Package us.ihmc.euclid.tuple4D.interfaces

Interface Tuple4DBasics

All Superinterfaces:

Clearable, Transformable, Tuple4DReadOnly

All Known Subinterfaces:

QuaternionBasics, Vector4DBasics

All Known Implementing Classes:

Quaternion, Quaternion32, Vector4D, Vector4D32

public interface Tuple4DBasics
extends Tuple4DReadOnly, Clearable, Transformable

Write and read interface for a 4 dimensional tuple.

A tuple 4D represents what is commonly called a quaternion. Although from definition, a quaternion does not necessarily represent an 3D orientation, in this library the classes implementing QuaternionReadOnly and QuaternionBasics represent unit-quaternions meant to represent 3D orientations. The classes implementing Vector4DReadOnly and Vector4DBasics are used to represent generic quaternions.

The write interface for a 4D tuple is more restricted than for the 2D and 3D tuples to improve data safety for the classes representing unit-quaternions.

When describing a 4D tuple, its 4 components are often gathered in two groups: the scalar part s and the vector part (x, y, z).

Note on the difference between applying a 3D transform on a quaternion and a 4D vector:

• When transformed by a homogeneous transformation matrix, a quaternion is only pre-multiplied by the rotation part of the transform, resulting in concatenating the orientations of the transform and the quaternion.
• When transformed by a homogeneous transformation matrix, a 4D vector scalar part s remains unchanged. The vector part (x, y, z) is scaled and rotated, and translated by s times the translation part of the transform. Note that for s = 0, a 4D vector behaves as a 3D vector, and for s = 1 it behaves as a 3D point.

Author:

Sylvain Bertrand

Method Summary

Modifier and Type	Method	Description
default void	absolute()	Sets each component of this tuple to its absolute value.
default boolean	containsNaN()	Tests if this tuple contains a Double.NaN.
default void	negate()	Changes the sign of each component of this tuple.
void	normalize()	Normalizes this tuple such that its norm is equal to 1 after calling this method and its direction remains unchanged.
default void	set(double[] tupleArray)	Sets this tuple's components x, y, z, s in order from the given array tupleArray.
void	set(double x, double y, double z, double s)	Sets this tuple's components to x, y, z, and s.
default void	set(float[] tupleArray)	Sets this tuple's components x, y, z, s in order from the given array tupleArray.
default void	set(int startIndex, double[] tupleArray)	Sets this tuple's components x, y, z, s in order from the given array tupleArray.
default void	set(int startIndex, float[] tupleArray)	Sets this tuple's components x, y, z, s in order from the given array tupleArray.
default void	set(int startRow, int column, org.ejml.data.DenseMatrix64F matrix)	Sets this tuple's components x, y, z, s in order from the given matrix starting to read from startRow at the column index column.
default void	set(int startRow, org.ejml.data.DenseMatrix64F matrix)	Sets this tuple's components x, y, z, s in order from the given column vector starting to read from startRow.
default void	set(org.ejml.data.DenseMatrix64F matrix)	Sets this tuple's components x, y, z, s in order from the given column vector starting to read from its first row index.
default void	set(Tuple4DReadOnly other)	Sets this tuple to tupleReadOnly.
default void	setAndAbsolute(Tuple4DReadOnly other)	Sets this tuple to other and then calls absolute().
default void	setAndNegate(Tuple4DReadOnly other)	Sets this tuple to other and then calls negate().
default void	setAndNormalize(Tuple4DReadOnly other)	Sets this tuple to other and then calls normalize().
default void	setToNaN()	Invalidate this object by setting its values to Double.NaN.

Methods inherited from interface us.ihmc.euclid.interfaces.Clearable

setToZero

Methods inherited from interface us.ihmc.euclid.interfaces.Transformable

applyInverseTransform, applyTransform

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Tuple4DReadOnly

dot, epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getS, getS32, getX, getX32, getY, getY32, getZ, getZ32, norm, normSquared

Method Detail

set

void set(double x,
         double y,
         double z,
         double s)

Sets this tuple's components to x, y, z, and s.

Parameters:

x - the new value for the x-component of this tuple.

y - the new value for the y-component of this tuple.

z - the new value for the z-component of this tuple.

s - the new value for the s-component of this tuple.

normalize

void normalize()

Normalizes this tuple such that its norm is equal to 1 after calling this method and its direction remains unchanged.

Edge cases:

• if this tuple contains Double.NaN, this method is ineffective.

setToNaN

default void setToNaN()

Description copied from interface: Clearable

Invalidate this object by setting its values to Double.NaN.

Specified by:

setToNaN in interface Clearable

containsNaN

default boolean containsNaN()

Tests if this tuple contains a Double.NaN.

Specified by:

containsNaN in interface Clearable

Specified by:

containsNaN in interface Tuple4DReadOnly

Returns:

true if this tuple contains a Double.NaN, false otherwise.

absolute

default void absolute()

Sets each component of this tuple to its absolute value.

negate

default void negate()

Changes the sign of each component of this tuple.

set

default void set(Tuple4DReadOnly other)

Sets this tuple to tupleReadOnly.

Parameters:

other - the other tuple to copy the values from. Not modified.

set

default void set(double[] tupleArray)

Sets this tuple's components x, y, z, s in order from the given array tupleArray.

Parameters:

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(int startIndex,
                 double[] tupleArray)

Sets this tuple's components x, y, z, s in order from the given array tupleArray.

Parameters:

startIndex - the first index to start reading from in the array.

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(float[] tupleArray)

Sets this tuple's components x, y, z, s in order from the given array tupleArray.

Parameters:

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(int startIndex,
                 float[] tupleArray)

Sets this tuple's components x, y, z, s in order from the given array tupleArray.

Parameters:

startIndex - the first index to start reading from in the array.

tupleArray - the array containing the new values for this tuple's components. Not modified.

set

default void set(org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y, z, s in order from the given column vector starting to read from its first row index.

Parameters:

matrix - the column vector containing the new values for this tuple's components. Not modified.

set

default void set(int startRow,
                 org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y, z, s in order from the given column vector starting to read from startRow.

Parameters:

startRow - the first row index to start reading in the dense-matrix.

matrix - the column vector containing the new values for this tuple's components. Not modified.

set

default void set(int startRow,
                 int column,
                 org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y, z, s in order from the given matrix starting to read from startRow at the column index column.

Parameters:

startRow - the first row index to start reading in the dense-matrix.

column - the column index to read in the dense-matrix.

matrix - the column vector containing the new values for this tuple's components. Not modified.

setAndAbsolute

default void setAndAbsolute(Tuple4DReadOnly other)

Sets this tuple to other and then calls absolute().

Parameters:

other - the other tuple to copy the values from. Not modified.

setAndNegate

default void setAndNegate(Tuple4DReadOnly other)

Sets this tuple to other and then calls negate().

Parameters:

other - the other tuple to copy the values from. Not modified.

setAndNormalize

default void setAndNormalize(Tuple4DReadOnly other)

Sets this tuple to other and then calls normalize().

Parameters:

other - the other tuple to copy the values from. Not modified.