us.ihmc.euclid.referenceFrame.interfaces

Interface FixedFrameConvexPolygon2DBasics

All Superinterfaces:

us.ihmc.euclid.interfaces.Clearable, ConvexPolygon2DBasics, ConvexPolygon2DReadOnly, FrameConvexPolygon2DReadOnly, FrameVertex2DSupplier, ReferenceFrameHolder, us.ihmc.euclid.interfaces.Transformable, Vertex2DSupplier

All Known Subinterfaces:

FrameConvexPolygon2DBasics

All Known Implementing Classes:

FrameConvexPolygon2D

public interface FixedFrameConvexPolygon2DBasics
extends FrameConvexPolygon2DReadOnly, ConvexPolygon2DBasics

Write and read interface for a convex polygon defined in the XY-plane and that is expressed in an immutable reference frame.

This implementation of convex polygon is designed for garbage free operations.

Field Summary

Fields inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FrameVertex2DSupplier

EMPTY_SUPPLIER

Method Summary

Modifier and Type	Method and Description
default void	addVertex(FramePoint2DReadOnly vertex) Add a vertex to this polygon.
default void	addVertex(FramePoint3DReadOnly vertex) Add a vertex to this polygon using only the x and y coordinates of the given vertex.
default void	addVertex(ReferenceFrame referenceFrame, double x, double y) Add a vertex to this polygon.
default void	addVertex(ReferenceFrame referenceFrame, us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly vertex) Add a vertex to this polygon.
default void	addVertex(ReferenceFrame referenceFrame, us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly vertex) Add a vertex to this polygon using only the x and y coordinates of the given vertex.
default void	addVertexMatchingFrame(FramePoint2DReadOnly vertex, boolean checkIfTransformInXYPlane) Add a vertex to this polygon.
default void	addVertexMatchingFrame(FramePoint3DReadOnly vertex) Add a vertex to this polygon using only the x and y coordinates of the given vertex.
void	addVertexMatchingFrame(ReferenceFrame referenceFrame, us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly vertex, boolean checkIfTransformInXYPlane) Add a vertex to this polygon.
void	addVertexMatchingFrame(ReferenceFrame referenceFrame, us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly vertex) Add a vertex to this polygon.
default void	addVertices(FrameVertex2DSupplier frameVertex2DSupplier) Adds the vertices from the given vertex supplier.
default void	addVertices(FrameVertex3DSupplier frameVertex3DSupplier) Adds the vertices from the given vertex supplier.
default void	addVerticesMatchingFrame(FrameVertex2DSupplier frameVertex2DSupplier, boolean checkIfTransformInXYPlane) Adds the vertices from the given vertex supplier.
default void	addVerticesMatchingFrame(FrameVertex3DSupplier frameVertex3DSupplier) Adds the vertices from the given vertex supplier.
FixedFramePoint2DBasics	getVertexUnsafe(int index) Gets the reference to the indexth vertex of this polygon.
default void	scale(FramePoint2DReadOnly pointToScaleAbout, double scaleFactor) Scale this convex polygon about pointToScaleAbout.
default void	set(FrameVertex2DSupplier frameVertex2DSupplier) This method does: ConvexPolygon2DBasics.clear().
default void	set(FrameVertex2DSupplier firstVertex2DSupplier, FrameVertex2DSupplier secondVertex2DSupplier) Sets this polygon such that it represents the smallest convex hull that contains both polygons.
default void	set(FrameVertex2DSupplier firstVertex2DSupplier, Vertex2DSupplier secondVertex2DSupplier) Sets this polygon such that it represents the smallest convex hull that contains both polygons.
default void	set(FrameVertex3DSupplier frameVertex3DSupplier) This method does: ConvexPolygon2DBasics.clear().
default void	set(Vertex2DSupplier firstVertex2DSupplier, FrameVertex2DSupplier secondVertex2DSupplier) Sets this polygon such that it represents the smallest convex hull that contains both polygons.
default void	setMatchingFrame(FrameVertex2DSupplier frameVertex2DSupplier, boolean checkIfTransformInXYPlane) This method does: ConvexPolygon2DBasics.clear().
default void	setMatchingFrame(FrameVertex3DSupplier frameVertex3DSupplier) This method does: ConvexPolygon2DBasics.clear().
default void	translate(FrameTuple2DReadOnly translation) Translates this polygon.

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FrameConvexPolygon2DReadOnly

canObserverSeeEdge, distance, epsilonEquals, equals, geometricallyEquals, getCentroid, getClosestEdge, getClosestEdge, getClosestEdge, getClosestEdge, getClosestEdge, getClosestEdgeCopy, getClosestEdgeCopy, getClosestEdgeIndex, getClosestPointWithRay, getClosestPointWithRay, getClosestPointWithRay, getClosestPointWithRay, getClosestPointWithRay, getClosestPointWithRay, getClosestPointWithRay, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertex, getClosestVertexCopy, getClosestVertexCopy, getClosestVertexCopy, getClosestVertexCopy, getClosestVertexIndex, getClosestVertexIndex, getEdge, getEdge, getFramePointsInClockwiseOrder, getNextVertex, getNextVertexCCW, getPolygonVerticesView, getPreviousVertex, getPreviousVertexCCW, getVertex, getVertexBufferView, getVertexCCW, getVerticesInClockwiseOrder, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWith, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, intersectionWithRay, isPointInside, isPointInside, lineOfSightEndIndex, lineOfSightEndVertex, lineOfSightEndVertex, lineOfSightEndVertex, lineOfSightEndVertex, lineOfSightEndVertex, lineOfSightEndVertexCopy, lineOfSightEndVertexCopy, lineOfSightIndices, lineOfSightStartIndex, lineOfSightStartVertex, lineOfSightStartVertex, lineOfSightStartVertex, lineOfSightStartVertex, lineOfSightStartVertex, lineOfSightStartVertexCopy, lineOfSightStartVertexCopy, lineOfSightVertices, lineOfSightVertices, orthogonalProjection, orthogonalProjection, orthogonalProjection, orthogonalProjection, orthogonalProjection, orthogonalProjection, orthogonalProjection, orthogonalProjectionCopy, orthogonalProjectionCopy, pointIsOnPerimeter, signedDistance, translateCopy, translateCopy

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.ReferenceFrameHolder

checkReferenceFrameMatch, checkReferenceFrameMatch, getReferenceFrame

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FrameVertex2DSupplier

asFrameVertex2DSupplier, asFrameVertex2DSupplier, asFrameVertex2DSupplier, asFrameVertex2DSupplier, asFrameVertex2DSupplier, asFrameVertex2DSupplier, emptyFrameVertex2DSupplier, epsilonEquals, equals

Methods inherited from interface us.ihmc.euclid.geometry.interfaces.ConvexPolygon2DBasics

addVertex, addVertex, addVertex, addVertices, addVertices, applyInverseTransform, applyInverseTransform, applyTransform, applyTransform, clear, clearAndUpdate, containsNaN, getBoundingBox, notifyVerticesChanged, removeVertex, scale, scale, set, set, set, setToNaN, setToZero, translate, translate, update, updateBoundingBox, updateCentroidAndArea

Methods inherited from interface us.ihmc.euclid.geometry.interfaces.ConvexPolygon2DReadOnly

canObserverSeeEdge, checkIfUpToDate, checkIndexInBoundaries, checkNonEmpty, distance, epsilonEquals, equals, geometricallyEquals, getArea, getBoundingBoxRangeX, getBoundingBoxRangeY, getClosestEdge, getClosestEdgeIndex, getClosestPointWithRay, getClosestVertex, getClosestVertex, getClosestVertexIndex, getClosestVertexIndex, getEdge, getMaxX, getMaxY, getMinX, getMinY, getNextVertexIndex, getNumberOfVertices, getPointsInClockwiseOrder, getPreviousVertexIndex, getVerticesInClockwiseOrder, intersectionWith, intersectionWith, intersectionWithRay, isClockwiseOrdered, isEmpty, isPointInside, isPointInside, isPointInside, isPointInside, isUpToDate, lineOfSightEndIndex, lineOfSightEndVertex, lineOfSightIndices, lineOfSightStartIndex, lineOfSightStartVertex, orthogonalProjection, orthogonalProjection, pointIsOnPerimeter, signedDistance

Methods inherited from interface us.ihmc.euclid.geometry.interfaces.Vertex2DSupplier

asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, asVertex2DSupplier, emptyVertex2DSupplier, epsilonEquals, equals

Method Detail

getVertexUnsafe

FixedFramePoint2DBasics getVertexUnsafe(int index)

Gets the reference to the index^th vertex of this polygon.

Specified by:

getVertexUnsafe in interface ConvexPolygon2DBasics

Parameters:

index - the index of the vertex in the clockwise ordered list.

Returns:

the reference to the vertex.

See Also:

getVertexUnsafe(int)

addVertex

default void addVertex(ReferenceFrame referenceFrame,
                       double x,
                       double y)

Add a vertex to this polygon.

Parameters:

referenceFrame - the reference frame in which the given vertex is expressed.

x - the x-coordinate of the new vertex.

y - the y-coordinate of the new vertex.

Throws:

ReferenceFrameMismatchException - if referenceFrame and this.getReferenceFrame() are not the same.

See Also:

ConvexPolygon2DBasics.addVertex(double, double)

addVertex

default void addVertex(ReferenceFrame referenceFrame,
                       us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly vertex)

Add a vertex to this polygon.

Parameters:

referenceFrame - the reference frame in which the given vertex is expressed.

vertex - the new vertex. Not modified.

Throws:

ReferenceFrameMismatchException - if referenceFrame and this.getReferenceFrame() are not the same.

See Also:

ConvexPolygon2DBasics.addVertex(Point2DReadOnly)

addVertexMatchingFrame

void addVertexMatchingFrame(ReferenceFrame referenceFrame,
                            us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly vertex,
                            boolean checkIfTransformInXYPlane)

Add a vertex to this polygon.

If vertex is expressed in the frame as this, then this method is equivalent to ConvexPolygon2DBasics.addVertex(Point2DReadOnly).

If vertex is expressed in a different frame than this, then the vertex is added once transformed to be expressed in this.getReferenceFrame().

Parameters:

referenceFrame - the reference frame in which the given vertex is expressed.

vertex - the new vertex. Not modified.

checkIfTransformInXYPlane - whether this method should assert that the rotation part of the transform from the vertex's frame to this frame represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and the rotation part of the transform is not a transformation in the XY plane.

See Also:

ConvexPolygon2DBasics.addVertex(Point2DReadOnly)

addVertex

default void addVertex(ReferenceFrame referenceFrame,
                       us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly vertex)

Add a vertex to this polygon using only the x and y coordinates of the given vertex.

Parameters:

referenceFrame - the reference frame in which the given vertex is expressed.

vertex - the new vertex. Not modified.

Throws:

ReferenceFrameMismatchException - if referenceFrame and this.getReferenceFrame() are not the same.

See Also:

ConvexPolygon2DBasics.addVertex(Point3DReadOnly)

addVertexMatchingFrame

void addVertexMatchingFrame(ReferenceFrame referenceFrame,
                            us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly vertex)

Add a vertex to this polygon.

If vertex is expressed in the frame as this, then this method is equivalent to ConvexPolygon2DBasics.addVertex(Point2DReadOnly).

If vertex is expressed in a different frame than this, then the vertex is added once transformed to be expressed in this.getReferenceFrame().

Parameters:

referenceFrame - the reference frame in which the given vertex is expressed.

vertex - the new vertex. Not modified.

See Also:

ConvexPolygon2DBasics.addVertex(Point3DReadOnly)

addVertex

default void addVertex(FramePoint2DReadOnly vertex)

Add a vertex to this polygon.

Parameters:

vertex - the new vertex. Not modified.

Throws:

ReferenceFrameMismatchException - if vertex and this are not expressed in the same reference frame.

See Also:

ConvexPolygon2DBasics.addVertex(Point2DReadOnly)

addVertexMatchingFrame

default void addVertexMatchingFrame(FramePoint2DReadOnly vertex,
                                    boolean checkIfTransformInXYPlane)

Add a vertex to this polygon.

If vertex is expressed in the frame as this, then this method is equivalent to ConvexPolygon2DBasics.addVertex(Point2DReadOnly).

If vertex is expressed in a different frame than this, then the vertex is added once transformed to be expressed in this.getReferenceFrame().

Parameters:

vertex - the new vertex. Not modified.

checkIfTransformInXYPlane - whether this method should assert that the rotation part of the transform from the vertex's frame to this frame represents a transformation in the XY plane.

See Also:

addVertexMatchingFrame(ReferenceFrame, Point2DReadOnly, boolean), ConvexPolygon2DBasics.addVertex(Point2DReadOnly)

addVertex

default void addVertex(FramePoint3DReadOnly vertex)

Add a vertex to this polygon using only the x and y coordinates of the given vertex.

Parameters:

vertex - the new vertex. Not modified.

Throws:

ReferenceFrameMismatchException - if vertex and this are not expressed in the same reference frame.

See Also:

ConvexPolygon2DBasics.addVertex(Point3DReadOnly)

addVertexMatchingFrame

default void addVertexMatchingFrame(FramePoint3DReadOnly vertex)

Add a vertex to this polygon using only the x and y coordinates of the given vertex.

Parameters:

vertex - the new vertex. Not modified.

See Also:

addVertexMatchingFrame(ReferenceFrame, Point3DReadOnly), ConvexPolygon2DBasics.addVertex(Point3DReadOnly)

addVertices

default void addVertices(FrameVertex2DSupplier frameVertex2DSupplier)

Adds the vertices from the given vertex supplier.

Note that this polygon is marked as being out-of-date. The method ConvexPolygon2DBasics.update() has to be called afterward before being able to perform operations with this polygon.

Parameters:

frameVertex2DSupplier - the supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the given vertices is a FramePoint2DReadOnly and is not expressed in the same reference frame as this.

See Also:

FrameVertex2DSupplier, addVertex(FramePoint2DReadOnly)

addVerticesMatchingFrame

default void addVerticesMatchingFrame(FrameVertex2DSupplier frameVertex2DSupplier,
                                      boolean checkIfTransformInXYPlane)

Adds the vertices from the given vertex supplier.

Note that this polygon is marked as being out-of-date. The method ConvexPolygon2DBasics.update() has to be called afterward before being able to perform operations with this polygon.

Parameters:

frameVertex2DSupplier - the supplier of vertices.

checkIfTransformInXYPlane - whether this method should assert that the rotation part of the transform from the vertex's frame to this frame represents a transformation in the XY plane.

See Also:

FrameVertex2DSupplier, addVertexMatchingFrame(FramePoint2DReadOnly, boolean)

addVertices

default void addVertices(FrameVertex3DSupplier frameVertex3DSupplier)

Adds the vertices from the given vertex supplier.

Note that this polygon is marked as being out-of-date. The method ConvexPolygon2DBasics.update() has to be called afterward before being able to perform operations with this polygon.

Only the x and y coordinates of each vertex is used to add a vertex to this polygon.

Parameters:

frameVertex3DSupplier - the supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the given vertices is a FramePoint3DReadOnly and is not expressed in the same reference frame as this.

See Also:

FrameVertex3DSupplier, addVertex(FramePoint3DReadOnly)

addVerticesMatchingFrame

default void addVerticesMatchingFrame(FrameVertex3DSupplier frameVertex3DSupplier)

Adds the vertices from the given vertex supplier.

Note that this polygon is marked as being out-of-date. The method ConvexPolygon2DBasics.update() has to be called afterward before being able to perform operations with this polygon.

Parameters:

frameVertex3DSupplier - the supplier of vertices.

See Also:

FrameVertex3DSupplier, addVertexMatchingFrame(FramePoint3DReadOnly)

set

default void set(FrameVertex2DSupplier frameVertex2DSupplier)

This method does:

1. ConvexPolygon2DBasics.clear().
2. addVertices(FrameVertex2DSupplier).
3. ConvexPolygon2DBasics.update().

Parameters:

frameVertex2DSupplier - the supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the given vertices is a FramePoint2DReadOnly and is not expressed in the same reference frame as this.

See Also:

FrameVertex2DSupplier, addVertices(FrameVertex2DSupplier)

setMatchingFrame

default void setMatchingFrame(FrameVertex2DSupplier frameVertex2DSupplier,
                              boolean checkIfTransformInXYPlane)

This method does:

1. ConvexPolygon2DBasics.clear().
2. addVerticesMatchingFrame(FrameVertex2DSupplier, boolean).
3. ConvexPolygon2DBasics.update().

Parameters:

frameVertex2DSupplier - the supplier of vertices.

checkIfTransformInXYPlane - whether this method should assert that the rotation part of the transform from the vertex's frame to this frame represents a transformation in the XY plane.

See Also:

FrameVertex2DSupplier, addVerticesMatchingFrame(FrameVertex2DSupplier, boolean)

set

default void set(FrameVertex3DSupplier frameVertex3DSupplier)

This method does:

1. ConvexPolygon2DBasics.clear().
2. addVertices(FrameVertex3DSupplier).
3. ConvexPolygon2DBasics.update().

Parameters:

frameVertex3DSupplier - the supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the given vertices is a FramePoint3DReadOnly and is not expressed in the same reference frame as this.

See Also:

FrameVertex3DSupplier, addVertices(FrameVertex3DSupplier)

setMatchingFrame

default void setMatchingFrame(FrameVertex3DSupplier frameVertex3DSupplier)

This method does:

1. ConvexPolygon2DBasics.clear().
2. addVertices(FrameVertex3DSupplier).
3. ConvexPolygon2DBasics.update().

Parameters:

frameVertex3DSupplier - the supplier of vertices.

See Also:

FrameVertex3DSupplier, addVerticesMatchingFrame(FrameVertex3DSupplier)

set

default void set(FrameVertex2DSupplier firstVertex2DSupplier,
                 FrameVertex2DSupplier secondVertex2DSupplier)

Sets this polygon such that it represents the smallest convex hull that contains both polygons.

Note that the resulting polygon is ready to be used for any operations, no need to call ConvexPolygon2DBasics.update().

Parameters:

firstVertex2DSupplier - the first supplier of vertices.

secondVertex2DSupplier - the second supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the vertices provided by firstVertexSupplier and secondVertexSupplier are not expressed in the same reference frame as this.

See Also:

FrameVertex2DSupplier, addVertices(FrameVertex2DSupplier)

set

default void set(FrameVertex2DSupplier firstVertex2DSupplier,
                 Vertex2DSupplier secondVertex2DSupplier)

Sets this polygon such that it represents the smallest convex hull that contains both polygons.

Note that the resulting polygon is ready to be used for any operations, no need to call ConvexPolygon2DBasics.update().

Parameters:

firstVertex2DSupplier - the first supplier of vertices.

secondVertex2DSupplier - the second supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the vertices provided by firstVertexSupplier are not expressed in the same reference frame as this.

See Also:

FrameVertex2DSupplier, addVertices(FrameVertex2DSupplier)

set

default void set(Vertex2DSupplier firstVertex2DSupplier,
                 FrameVertex2DSupplier secondVertex2DSupplier)

Sets this polygon such that it represents the smallest convex hull that contains both polygons.

Note that the resulting polygon is ready to be used for any operations, no need to call ConvexPolygon2DBasics.update().

Parameters:

firstVertex2DSupplier - the first supplier of vertices.

secondVertex2DSupplier - the second supplier of vertices.

Throws:

ReferenceFrameMismatchException - if any of the vertices provided by secondVertexSupplier are not expressed in the same reference frame as this.

See Also:

FrameVertex2DSupplier, addVertices(FrameVertex2DSupplier)

scale

default void scale(FramePoint2DReadOnly pointToScaleAbout,
                   double scaleFactor)

Scale this convex polygon about pointToScaleAbout.

Parameters:

pointToScaleAbout - the center of the scale transformation. Not modified.

scaleFactor - the scale factor to apply to this polygon. A value of 1.0 does nothing.

Throws:

ReferenceFrameMismatchException - if pointToScaleAbout and this are not expressed in the same reference frame.

See Also:

ConvexPolygon2DBasics.scale(Point2DReadOnly, double)

translate

default void translate(FrameTuple2DReadOnly translation)

Translates this polygon.

Parameters:

translation - the translation to apply to this polygon's vertices. Not modified.

Throws:

ReferenceFrameMismatchException - if translation and this are not expressed in the same reference frame.

See Also:

ConvexPolygon2DBasics.translate(Tuple2DReadOnly)