us.ihmc.euclid.referenceFrame.interfaces

Interface FrameConvexPolygon2DBasics

All Superinterfaces:

us.ihmc.euclid.interfaces.Clearable, ConvexPolygon2DBasics, ConvexPolygon2DReadOnly, FixedFrameConvexPolygon2DBasics, FrameChangeable, FrameConvexPolygon2DReadOnly, FrameVertex2DSupplier, ReferenceFrameHolder, us.ihmc.euclid.interfaces.Transformable, Vertex2DSupplier

All Known Implementing Classes:

FrameConvexPolygon2D

public interface FrameConvexPolygon2DBasics
extends FixedFrameConvexPolygon2DBasics, FrameChangeable

Write and read interface for a convex polygon defined in the XY-plane and that is expressed in in a changeable reference frame, i.e. the reference frame in which this polygon is expressed can be changed.

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
void	changeFrameAndProjectToXYPlane(ReferenceFrame desiredFrame) Performs a transformation of the polygon such that it is expressed in a new frame desireFrame.
default void	clear(ReferenceFrame referenceFrame) Clear this polygon and sets it reference frame.
default void	clearAndUpdate(ReferenceFrame referenceFrame) Clear this polygon, sets it reference frame.
default void	setIncludingFrame(FrameVertex2DSupplier frameVertex2DSupplier) This method does: setReferenceFrame(ReferenceFrame) using the reference frame of the first vertex.
default void	setIncludingFrame(FrameVertex2DSupplier firstVertex2DSupplier, FrameVertex2DSupplier secondVertex2DSupplier) This method does: setReferenceFrame(ReferenceFrame) using the reference frame of firstPolygon.
default void	setIncludingFrame(FrameVertex3DSupplier frameVertex3DSupplier) This method does: setReferenceFrame(ReferenceFrame) using the reference frame of the first vertex.
default void	setIncludingFrame(ReferenceFrame referenceFrame, Vertex2DSupplier vertex2DSupplier) This method does: setReferenceFrame(ReferenceFrame) ConvexPolygon2DBasics.set(Vertex2DSupplier).
default void	setIncludingFrame(ReferenceFrame referenceFrame, Vertex2DSupplier firstVertexSupplier, Vertex2DSupplier secondVertexSupplier) This method does: setReferenceFrame(ReferenceFrame) ConvexPolygon2DBasics.set(Vertex2DSupplier, Vertex2DSupplier).
default void	setIncludingFrame(ReferenceFrame referenceFrame, Vertex3DSupplier vertex3DSupplier) This method does: setReferenceFrame(ReferenceFrame) ConvexPolygon2DBasics.set(Vertex3DSupplier).
void	setReferenceFrame(ReferenceFrame referenceFrame) Sets the reference frame of this polygon without updating or modifying the coordinates of its vertices.
default void	setToNaN(ReferenceFrame referenceFrame) Clears this polygon, adds a single vertex at (Double.NaN, Double.NaN), and updates it.
default void	setToZero(ReferenceFrame referenceFrame) Clears this polygon, adds a single vertex at (0, 0), and updates it.

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FixedFrameConvexPolygon2DBasics

addVertex, addVertex, addVertex, addVertex, addVertex, addVertexMatchingFrame, addVertexMatchingFrame, addVertexMatchingFrame, addVertexMatchingFrame, addVertices, addVertices, addVerticesMatchingFrame, addVerticesMatchingFrame, getVertexUnsafe, scale, set, set, set, set, set, setMatchingFrame, setMatchingFrame, translate

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

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

changeFrame

Method Detail

clear

default void clear(ReferenceFrame referenceFrame)

Clear this polygon and sets it reference frame.

After calling this method, the polygon has no vertex, area, or centroid.

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

See Also:

ConvexPolygon2DBasics.clear()

clearAndUpdate

default void clearAndUpdate(ReferenceFrame referenceFrame)

Clear this polygon, sets it reference frame.

After calling this method, the polygon has no vertex, area, or centroid. Use only when an empty polygon is desired.

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

See Also:

ConvexPolygon2DBasics.clearAndUpdate()

setReferenceFrame

void setReferenceFrame(ReferenceFrame referenceFrame)

Sets the reference frame of this polygon without updating or modifying the coordinates of its vertices.

Specified by:

setReferenceFrame in interface FrameChangeable

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

setToZero

default void setToZero(ReferenceFrame referenceFrame)

Clears this polygon, adds a single vertex at (0, 0), and updates it.

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

See Also:

ConvexPolygon2DBasics.setToZero()

setToNaN

default void setToNaN(ReferenceFrame referenceFrame)

Clears this polygon, adds a single vertex at (Double.NaN, Double.NaN), and updates it.

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

See Also:

ConvexPolygon2DBasics.setToNaN()

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               Vertex2DSupplier vertex2DSupplier)

This method does:

1. setReferenceFrame(ReferenceFrame)
2. ConvexPolygon2DBasics.set(Vertex2DSupplier).

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

vertex2DSupplier - the supplier of vertices.

See Also:

Vertex2DSupplier, ConvexPolygon2DBasics.set(Vertex2DSupplier)

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               Vertex3DSupplier vertex3DSupplier)

This method does:

1. setReferenceFrame(ReferenceFrame)
2. ConvexPolygon2DBasics.set(Vertex3DSupplier).

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

vertex3DSupplier - the supplier of vertices.

See Also:

Vertex3DSupplier, ConvexPolygon2DBasics.set(Vertex3DSupplier)

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               Vertex2DSupplier firstVertexSupplier,
                               Vertex2DSupplier secondVertexSupplier)

This method does:

1. setReferenceFrame(ReferenceFrame)
2. ConvexPolygon2DBasics.set(Vertex2DSupplier, Vertex2DSupplier).

Parameters:

referenceFrame - the new reference frame for this frame convex polygon.

firstVertexSupplier - the first supplier of vertices.

secondVertexSupplier - the second supplier of vertices.

See Also:

Vertex2DSupplier, ConvexPolygon2DBasics.set(Vertex2DSupplier, Vertex2DSupplier)

setIncludingFrame

default void setIncludingFrame(FrameVertex2DSupplier frameVertex2DSupplier)

This method does:

1. setReferenceFrame(ReferenceFrame) using the reference frame of the first vertex.
2. FixedFrameConvexPolygon2DBasics.set(FrameVertex2DSupplier).

If the supplier has no vertex, this polygon is cleared and the reference frame is not updated.

Parameters:

frameVertex2DSupplier - the supplier of vertices.

Throws:

ReferenceFrameMismatchException - if the reference frame of the supplied vertices are inconsistent.

See Also:

FrameVertex2DSupplier, FixedFrameConvexPolygon2DBasics.set(FrameVertex2DSupplier)

setIncludingFrame

default void setIncludingFrame(FrameVertex3DSupplier frameVertex3DSupplier)

This method does:

1. setReferenceFrame(ReferenceFrame) using the reference frame of the first vertex.
2. FixedFrameConvexPolygon2DBasics.set(FrameVertex3DSupplier).

If the supplier has no vertex, this polygon is cleared and the reference frame is not updated.

Parameters:

frameVertex3DSupplier - the supplier of vertices.

Throws:

ReferenceFrameMismatchException - if the reference frame of the supplied vertices are inconsistent.

See Also:

FrameVertex3DSupplier, FixedFrameConvexPolygon2DBasics.set(FrameVertex3DSupplier)

setIncludingFrame

default void setIncludingFrame(FrameVertex2DSupplier firstVertex2DSupplier,
                               FrameVertex2DSupplier secondVertex2DSupplier)

This method does:

1. setReferenceFrame(ReferenceFrame) using the reference frame of firstPolygon.
2. FixedFrameConvexPolygon2DBasics.set(FrameVertex2DSupplier, FrameVertex2DSupplier).

Parameters:

firstVertex2DSupplier - the first supplier of vertices.

secondVertex2DSupplier - the second supplier of vertices.

Throws:

ReferenceFrameMismatchException - if the reference frame of the supplied vertices are inconsistent.

See Also:

FixedFrameConvexPolygon2DBasics.set(FrameVertex2DSupplier, FrameVertex2DSupplier)

changeFrameAndProjectToXYPlane

void changeFrameAndProjectToXYPlane(ReferenceFrame desiredFrame)

Performs a transformation of the polygon such that it is expressed in a new frame desireFrame.

Because the transformation between two reference frames is a 3D transformation, the result of transforming this polygon's vertices 2D can result in vertices 3D. This method projects the result of the transformation onto the XY-plane.

Parameters:

desiredFrame - the reference frame in which the polygon is to be expressed.