Pose3DBasics (euclid 0.8.2 API)

All Superinterfaces:

us.ihmc.euclid.interfaces.Clearable, Pose3DReadOnly, us.ihmc.euclid.interfaces.Transformable

All Known Subinterfaces:

FixedFramePose3DBasics, FramePose3DBasics

All Known Implementing Classes:

FramePose3D, Pose3D
```
public interface Pose3DBasics
extends Pose3DReadOnly, us.ihmc.euclid.interfaces.Transformable, us.ihmc.euclid.interfaces.Clearable
```
Write and read interface for pose 3D.
A pose 3D represents a position and orientation in 3 dimensions.

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`default void`	`appendPitchRotation(double pitch)` Appends a rotation about the y-axis to this pose 3D.
`default void`	`appendRollRotation(double roll)` Appends a rotation about the x-axis to this pose 3D.
`default void`	`appendRotation(us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly orientation)` Appends the given orientation to this pose 3D.
`default void`	`appendTransform(us.ihmc.euclid.transform.QuaternionBasedTransform transform)` Appends the given `transform` to this pose 3D.
`default void`	`appendTransform(us.ihmc.euclid.transform.RigidBodyTransform transform)` Appends the given `transform` to this pose 3D.
`default void`	`appendTranslation(double x, double y, double z)` Rotates, then adds the translation (x, y, z) to this pose 3D.
`default void`	`appendTranslation(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly translation)` Rotates, then adds the given `translation` to this pose 3D.
`default void`	`appendYawRotation(double yaw)` Appends a rotation about the z-axis to this pose 3D.
`default void`	`applyInverseTransform(us.ihmc.euclid.transform.interfaces.Transform transform)` Transforms the position and orientation parts of this pose 3D by the inverse of the given `transform`.
`default void`	`applyTransform(us.ihmc.euclid.transform.interfaces.Transform transform)` Transforms the position and orientation parts of this pose 3D by the given `transform`.
`default boolean`	`containsNaN()` Tests if this pose contains a `Double.NaN`.
`us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics`	`getOrientation()` Gets the reference to the orientation part of this pose 3D.
`us.ihmc.euclid.tuple3D.interfaces.Point3DBasics`	`getPosition()` Gets the reference of the position part of this pose 3D.
`default void`	`interpolate(Pose3DReadOnly other, double alpha)` Performs a linear interpolation from `this` to `other` given the percentage `alpha`.
`default void`	`interpolate(Pose3DReadOnly pose1, Pose3DReadOnly pose2, double alpha)` Performs a linear interpolation from `pose1` to `pose2` given the percentage `alpha`.
`default void`	`normalizeQuaternion()` Normalizes the quaternion part of this pose to ensure it is a unit-quaternion describing a proper orientation.
`default void`	`normalizeQuaternionAndLimitToPi()` Normalizes the quaternion part of this pose and then limits the angle of the rotation it represents to be ∈ [-pi;pi].
`default void`	`prependPitchRotation(double pitch)` Prepends a rotation about the y-axis to this pose 3D: Rotates the position part and prepends the rotation to the orientation part.
`default void`	`prependRollRotation(double roll)` Prepends a rotation about the x-axis to this pose 3D: Rotates the position part and prepends the rotation to the orientation part.
`default void`	`prependRotation(us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly rotation)` Rotates the position part of this pose 3D by the given `rotation` and prepends it to the orientation part.
`default void`	`prependTransform(us.ihmc.euclid.transform.QuaternionBasedTransform transform)` Prepends the given transform to this pose 3D.
`default void`	`prependTransform(us.ihmc.euclid.transform.RigidBodyTransform transform)` Prepends the given transform to this pose 3D.
`default void`	`prependTranslation(double x, double y, double z)` Adds the translation (x, y, z) to this pose 3D assuming it is expressed in the coordinates in which this pose is expressed.
`default void`	`prependTranslation(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly translation)` Adds the given `translation` to this pose 3D assuming it is expressed in the coordinates in which this pose is expressed.
`default void`	`prependYawRotation(double yaw)` Prepends a rotation about the z-axis to this pose 3D: Rotates the position part and prepends the rotation to the orientation part.
`default void`	`set(double x, double y, double z, double yaw, double pitch, double roll)` Sets all the components of this pose 3D.
`default void`	`set(Pose2DReadOnly pose2DReadOnly)` Sets this pose 3D to the given `pose2DReadOnly`.
`default void`	`set(Pose3DReadOnly other)` Sets this pose 3D to the `other` pose 3D.
`default void`	`set(us.ihmc.euclid.transform.QuaternionBasedTransform quaternionBasedTransform)` Sets this pose 3D to match the given quaternion-based transform.
`default void`	`set(us.ihmc.euclid.transform.RigidBodyTransform rigidBodyTransform)` Sets this pose 3D to match the given rigid-body transform.
`default void`	`set(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly position, us.ihmc.euclid.axisAngle.interfaces.AxisAngleReadOnly orientation)` Sets both position and orientation.
`default void`	`set(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly position, us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly orientation)` Sets both position and orientation.
`default void`	`setOrientation(double qx, double qy, double qz, double qs)` Sets the orientation part of this pose 3D with the 4 components of a quaternion.
`default void`	`setOrientation(Orientation2DReadOnly orientation)` Sets the orientation part of this pose 3D with the given orientation 2D.
`default void`	`setOrientation(us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly orientation)` Sets the orientation part of this pose 3D with the given orientation.
`default void`	`setOrientationYawPitchRoll(double[] yawPitchRoll)` Sets the orientation part of this pose 3D with the given yaw, pitch, and roll angles.
`default void`	`setOrientationYawPitchRoll(double yaw, double pitch, double roll)` Sets the orientation part of this pose 3D with the given yaw, pitch, and roll angles.
`default void`	`setPosition(double x, double y, double z)` Sets the position coordinates.
`default void`	`setPosition(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly position2D)` Sets the x and y coordinates from the given tuple 2D, the z coordinate remains unchanged.
`default void`	`setPosition(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly position2D, double z)` Sets the position from the given tuple 2D and z coordinate.
`default void`	`setPosition(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly position)` Sets the position to the given tuple.
`default void`	`setToNaN()`
`default void`	`setToZero()` Sets the position to (0, 0) and the orientation to the neutral quaternion, i.e.
`default void`	`setX(double x)` Sets the x-coordinate of the position.
`default void`	`setY(double y)` Sets the y-coordinate of the position.
`default void`	`setZ(double z)` Sets the z-coordinate of the position.

Methods inherited from interface us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly
epsilonEquals, equals, geometricallyEquals, get, get, get, getOrientationDistance, getOrientationDistance, getOrientationYawPitchRoll, getPitch, getPositionDistance, getPositionDistance, getRoll, getRotationVector, getX, getY, getYaw, getZ

- Method Detail
  - setX
```
default void setX(double x)
```
    Sets the x-coordinate of the position.
    
    Parameters:
    
    x - the x-coordinate of the position.
  - setY
```
default void setY(double y)
```
    Sets the y-coordinate of the position.
    
    Parameters:
    
    y - the y-coordinate of the position.
  - setZ
```
default void setZ(double z)
```
    Sets the z-coordinate of the position.
    
    Parameters:
    
    z - the z-coordinate of the position.
  - getPosition
```
us.ihmc.euclid.tuple3D.interfaces.Point3DBasics getPosition()
```
    Gets the reference of the position part of this pose 3D.
    
    Specified by:
    
    getPosition in interface Pose3DReadOnly
    
    Returns:
    
    the position part of this pose 3D.
  - getOrientation
```
us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics getOrientation()
```
    Gets the reference to the orientation part of this pose 3D.
    
    Specified by:
    
    getOrientation in interface Pose3DReadOnly
    
    Returns:
    
    the orientation part of this pose 3D.
  - setPosition
```
default void setPosition(double x,
                         double y,
                         double z)
```
    Sets the position coordinates.
    
    Parameters:
    
    x - the x-coordinate of the position.
    
    y - the y-coordinate of the position.
    
    z - the z-coordinate of the position.
  - setPosition
```
default void setPosition(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly position)
```
    Sets the position to the given tuple.
    
    Parameters:
    
    position - the tuple with the new position coordinates. Not modified.
  - setPosition
```
default void setPosition(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly position2D)
```
    Sets the x and y coordinates from the given tuple 2D, the z coordinate remains unchanged.
    The z component remains unchanged.
    
    Parameters:
    
    position2D - the tuple with the new x and y coordinates. Not modified.
  - setPosition
```
default void setPosition(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly position2D,
                         double z)
```
    Sets the position from the given tuple 2D and z coordinate.
    
    Parameters:
    
    position2D - the tuple with the new x and y coordinates. Not modified.
    
    z - the new z value for this pose's position z-coordinate.
  - set
```
default void set(double x,
                 double y,
                 double z,
                 double yaw,
                 double pitch,
                 double roll)
```
    Sets all the components of this pose 3D.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Parameters:
    
    x - the x-coordinate of the position.
    
    y - the y-coordinate of the position.
    
    z - the z-coordinate of the position.
    
    yaw - the angle to rotate about the z-axis.
    
    pitch - the angle to rotate about the y-axis.
    
    roll - the angle to rotate about the x-axis.
  - set
```
default void set(Pose2DReadOnly pose2DReadOnly)
```
    Sets this pose 3D to the given pose2DReadOnly.
    
    Parameters:
    
    pose2DReadOnly - the pose 2D used to set this pose 3D. Not modified.
  - set
```
default void set(Pose3DReadOnly other)
```
    Sets this pose 3D to the other pose 3D.
    
    Parameters:
    
    other - the other pose 3D. Not modified.
  - setOrientation
```
default void setOrientation(double qx,
                            double qy,
                            double qz,
                            double qs)
```
    Sets the orientation part of this pose 3D with the 4 components of a quaternion.
    The quaternion is normalized internally.
    
    Parameters:
    
    qx - the x-component of the quaternion's vector part.
    
    qy - the y-component of the quaternion's vector part.
    
    qz - the z-component of the quaternion's vector part.
    
    qs - the scalar component of the quaternion.
  - setOrientation
```
default void setOrientation(Orientation2DReadOnly orientation)
```
    Sets the orientation part of this pose 3D with the given orientation 2D.
    
    Parameters:
    
    orientation - the orientation 2D used to set this pose's orientation. Not modified.
  - setOrientation
```
default void setOrientation(us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly orientation)
```
    Sets the orientation part of this pose 3D with the given orientation.
    
    Parameters:
    
    orientation - the orientation used to set this pose's orientation. Not modified.
  - setOrientationYawPitchRoll
```
default void setOrientationYawPitchRoll(double[] yawPitchRoll)
```
    Sets the orientation part of this pose 3D with the given yaw, pitch, and roll angles.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Parameters:
    
    yawPitchRoll - array containing the yaw-pitch-roll angles. Not modified.
  - setOrientationYawPitchRoll
```
default void setOrientationYawPitchRoll(double yaw,
                                        double pitch,
                                        double roll)
```
    Sets the orientation part of this pose 3D with the given yaw, pitch, and roll angles.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
    
    pitch - the angle to rotate about the y-axis.
    
    roll - the angle to rotate about the x-axis.
  - set
```
default void set(us.ihmc.euclid.transform.RigidBodyTransform rigidBodyTransform)
```
    Sets this pose 3D to match the given rigid-body transform.
    
    Parameters:
    
    rigidBodyTransform - the transform use to set this pose 3D. Not modified.
  - set
```
default void set(us.ihmc.euclid.transform.QuaternionBasedTransform quaternionBasedTransform)
```
    Sets this pose 3D to match the given quaternion-based transform.
    
    Parameters:
    
    quaternionBasedTransform - the transform use to set this pose 3D. Not modified.
  - set
```
default void set(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly position,
                 us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly orientation)
```
    Sets both position and orientation.
    
    Parameters:
    
    position - the tuple with the new position coordinates. Not modified.
    
    orientation - the quaternion with the new orientation. Not modified.
  - set
```
default void set(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly position,
                 us.ihmc.euclid.axisAngle.interfaces.AxisAngleReadOnly orientation)
```
    Sets both position and orientation.
    
    Parameters:
    
    position - the tuple with the new position coordinates. Not modified.
    
    orientation - the axis-angle with the new orientation. Not modified.
  - containsNaN
```
default boolean containsNaN()
```
    Tests if this pose contains a Double.NaN.
    
    Specified by:
    
    containsNaN in interface us.ihmc.euclid.interfaces.Clearable
    
    Specified by:
    
    containsNaN in interface Pose3DReadOnly
    
    Returns:
    
    true if this pose contains a Double.NaN, false otherwise.
  - setToNaN
```
default void setToNaN()
```
    Specified by:
    
    setToNaN in interface us.ihmc.euclid.interfaces.Clearable
  - setToZero
```
default void setToZero()
```
    Sets the position to (0, 0) and the orientation to the neutral quaternion, i.e. zero rotation.
    
    Specified by:
    
    setToZero in interface us.ihmc.euclid.interfaces.Clearable
  - normalizeQuaternion
```
default void normalizeQuaternion()
```
    Normalizes the quaternion part of this pose to ensure it is a unit-quaternion describing a proper orientation.
    Edge cases:
    - if the quaternion contains Double.NaN, this method is ineffective.
  - normalizeQuaternionAndLimitToPi
```
default void normalizeQuaternionAndLimitToPi()
```
    Normalizes the quaternion part of this pose and then limits the angle of the rotation it represents to be ∈ [-pi;pi].
    Edge cases:
    - if the quaternion contains Double.NaN, this method is ineffective.
  - interpolate
```
default void interpolate(Pose3DReadOnly other,
                         double alpha)
```
    Performs a linear interpolation from this to other given the percentage alpha.
    this.position = (1.0 - alpha) * this.position + alpha * other.position
    this.orientation = (1.0 - alpha) * this.orientation + alpha * other.orientation
    
    Parameters:
    
    other - the other pose 3D used for the interpolation. Not modified.
    
    alpha - the percentage used for the interpolation. A value of 0 will result in not modifying this, while a value of 1 is equivalent to setting this to other.
  - interpolate
```
default void interpolate(Pose3DReadOnly pose1,
                         Pose3DReadOnly pose2,
                         double alpha)
```
    Performs a linear interpolation from pose1 to pose2 given the percentage alpha.
    this.position = (1.0 - alpha) * pose1.position + alpha * pose2.position
    this.orientation = (1.0 - alpha) * pose1.orientation + alpha * pose2.orientation
    
    Parameters:
    
    pose1 - the first pose 3D used in the interpolation. Not modified.
    
    pose2 - the second pose 3D used in the interpolation. Not modified.
    
    alpha - the percentage to use for the interpolation. A value of 0 will result in setting this to pose1, while a value of 1 is equivalent to setting this to pose2.
  - prependTranslation
```
default void prependTranslation(double x,
                                double y,
                                double z)
```
    Adds the translation (x, y, z) to this pose 3D assuming it is expressed in the coordinates in which this pose is expressed.
    If the translation is expressed in the local coordinates described by this pose 3D, use appendTranslation(double, double, double).
    
    Parameters:
    
    x - the translation distance along the x-axis.
    
    y - the translation distance along the y-axis.
    
    z - the translation distance along the z-axis.
  - prependTranslation
```
default void prependTranslation(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly translation)
```
    Adds the given translation to this pose 3D assuming it is expressed in the coordinates in which this pose is expressed.
    If the translation is expressed in the local coordinates described by this pose 3D, use appendTranslation(Tuple3DReadOnly).
    
    Parameters:
    
    translation - tuple containing the translation to apply to this pose 3D. Not modified.
  - prependRotation
```
default void prependRotation(us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly rotation)
```
    Rotates the position part of this pose 3D by the given rotation and prepends it to the orientation part.
    
    Parameters:
    
    rotation - the rotation to prepend to this pose 3D. Not modified.
  - prependYawRotation
```
default void prependYawRotation(double yaw)
```
    Prepends a rotation about the z-axis to this pose 3D: Rotates the position part and prepends the rotation to the orientation part.
    
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
  - prependPitchRotation
```
default void prependPitchRotation(double pitch)
```
    Prepends a rotation about the y-axis to this pose 3D: Rotates the position part and prepends the rotation to the orientation part.
    
    Parameters:
    
    pitch - the angle to rotate about the y-axis.
  - prependRollRotation
```
default void prependRollRotation(double roll)
```
    Prepends a rotation about the x-axis to this pose 3D: Rotates the position part and prepends the rotation to the orientation part.
    
    Parameters:
    
    roll - the angle to rotate about the x-axis.
  - prependTransform
```
default void prependTransform(us.ihmc.euclid.transform.RigidBodyTransform transform)
```
    Prepends the given transform to this pose 3D.
    This is the same as applyTransform(Transform).
    
    Parameters:
    
    transform - the transform to prepend to this pose 3D. Not modified.
  - prependTransform
```
default void prependTransform(us.ihmc.euclid.transform.QuaternionBasedTransform transform)
```
    Prepends the given transform to this pose 3D.
    This is the same as applyTransform(Transform).
    
    Parameters:
    
    transform - the transform to prepend to this pose 3D. Not modified.
  - appendTranslation
```
default void appendTranslation(double x,
                               double y,
                               double z)
```
    Rotates, then adds the translation (x, y, z) to this pose 3D.
    Use this method if the translation (x, y, z) is expressed in the local coordinates described by this pose 3D. Otherwise, use prependTranslation(double, double, double).
    
    Parameters:
    
    x - the translation distance along the x-axis.
    
    y - the translation distance along the y-axis.
    
    z - the translation distance along the z-axis.
  - appendTranslation
```
default void appendTranslation(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly translation)
```
    Rotates, then adds the given translation to this pose 3D.
    Use this method if the translation is expressed in the local coordinates described by this pose 3D. Otherwise, use prependTranslation(Tuple3DReadOnly).
    
    Parameters:
    
    translation - tuple containing the translation to apply to this pose 3D. Not modified.
  - appendRotation
```
default void appendRotation(us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly orientation)
```
    Appends the given orientation to this pose 3D.
    Only the orientation part of this pose is affected by this operation, for more details see Orientation3DBasics.append(Orientation3DReadOnly).
    
    Parameters:
    
    orientation - the orientation to append to this pose 3D. Not modified.
  - appendYawRotation
```
default void appendYawRotation(double yaw)
```
    Appends a rotation about the z-axis to this pose 3D.
    More precisely, the position part is unchanged while the orientation part is updated as follows:
```
                                       / cos(yaw) -sin(yaw) 0 \
 this.orientation = this.orientation * | sin(yaw)  cos(yaw) 0 |
                                       \    0         0     1 /
 
```
    Parameters:
    
    yaw - the angle to rotate about the z-axis.
  - appendPitchRotation
```
default void appendPitchRotation(double pitch)
```
    Appends a rotation about the y-axis to this pose 3D.
    More precisely, the position part is unchanged while the orientation part is updated as follows:
```
                                       /  cos(pitch) 0 sin(pitch) \
 this.orientation = this.orientation * |      0      1     0      |
                                       \ -sin(pitch) 0 cos(pitch) /
 
```
    Parameters:
    
    pitch - the angle to rotate about the y-axis.
  - appendRollRotation
```
default void appendRollRotation(double roll)
```
    Appends a rotation about the x-axis to this pose 3D.
    More precisely, the position part is unchanged while the orientation part is updated as follows:
```
                                       / 1     0          0     \
 this.orientation = this.orientation * | 0 cos(roll) -sin(roll) |
                                       \ 0 sin(roll)  cos(roll) /
 
```
    Parameters:
    
    roll - the angle to rotate about the x-axis.
  - appendTransform
```
default void appendTransform(us.ihmc.euclid.transform.RigidBodyTransform transform)
```
    Appends the given transform to this pose 3D.
    
    Parameters:
    
    transform - the rigid-body transform to append to this pose 3D. Not modified.
  - appendTransform
```
default void appendTransform(us.ihmc.euclid.transform.QuaternionBasedTransform transform)
```
    Appends the given transform to this pose 3D.
    
    Parameters:
    
    transform - the quaternion-based transform to append to this pose 3D. Not modified.
  - applyTransform
```
default void applyTransform(us.ihmc.euclid.transform.interfaces.Transform transform)
```
    Transforms the position and orientation parts of this pose 3D by the given transform.
    
    Specified by:
    
    applyTransform in interface us.ihmc.euclid.interfaces.Transformable
    
    Parameters:
    
    transform - the geometric transform to apply on this pose 3D. Not modified.
  - applyInverseTransform
```
default void applyInverseTransform(us.ihmc.euclid.transform.interfaces.Transform transform)
```
    Transforms the position and orientation parts of this pose 3D by the inverse of the given transform.
    
    Specified by:
    
    applyInverseTransform in interface us.ihmc.euclid.interfaces.Transformable
    
    Parameters:
    
    transform - the geometric transform to apply on this pose 3D. Not modified.

Interface Pose3DBasics

Method Summary

Methods inherited from interface us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly

Method Detail

setX

setY

setZ

getPosition

getOrientation

setPosition

setPosition

setPosition

setPosition

set

set

set

setOrientation

setOrientation

setOrientation

setOrientationYawPitchRoll

setOrientationYawPitchRoll

set

set

set

set

containsNaN

setToNaN

setToZero

normalizeQuaternion

normalizeQuaternionAndLimitToPi

interpolate

interpolate

prependTranslation

prependTranslation

prependRotation

prependYawRotation

prependPitchRotation

prependRollRotation

prependTransform

prependTransform

appendTranslation

appendTranslation

appendRotation

appendYawRotation

appendPitchRotation

appendRollRotation

appendTransform

appendTransform

applyTransform

applyInverseTransform