FrameLineSegment3DReadOnly (euclid 0.8.2 API)

All Superinterfaces:

LineSegment3DReadOnly, ReferenceFrameHolder

All Known Subinterfaces:

FixedFrameLineSegment3DBasics, FrameLineSegment3DBasics

All Known Implementing Classes:

FrameLineSegment3D
```
public interface FrameLineSegment3DReadOnly
extends LineSegment3DReadOnly, ReferenceFrameHolder
```
Read-only interface for a line segment 3D expressed in a given reference frame, i.e. this line segment is always expressed in the same reference frame.
A line segment 3D is a finite-length line defined in the XY-plane by its two 3D endpoints.

In addition to representing a LineSegment3DReadOnly, a ReferenceFrame is associated to a FrameLineSegment3DReadOnly. This allows, for instance, to enforce, at runtime, that operations on lines occur in the same coordinate system.

Because a FrameLineSegment3DReadOnly extends LineSegment3DReadOnly, it is compatible with methods only requiring LineSegment3DReadOnly. However, these methods do NOT assert that the operation occur in the proper coordinate system. Use this feature carefully and always prefer using methods requiring FrameLineSegment3DReadOnly.

Method Summary

All Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`default double`	`distance(FrameLineSegment3DReadOnly frameLineSegment3DReadOnly)` This methods computes the minimum distance between this line segment and the given one.
`default double`	`distance(FramePoint3DReadOnly point)` Returns the minimum distance between a point and this given line segment.
`default double`	`distanceSquared(FramePoint3DReadOnly point)` Returns the square of the minimum distance between a point and this given line segment.
`default double`	`dotProduct(FrameLineSegment3DReadOnly other)` Computes the dot product of this line segment with the other line segment such that: `this` · `other = Math.cos(`α`) * this.length() * other.length()` where α is the angle from this to the other line segment.
`default boolean`	`epsilonEquals(FrameLineSegment3DReadOnly other, double epsilon)` Tests on a per-component basis on both endpoints if this line segment is equal to `other` with the tolerance `epsilon`.
`default boolean`	`equals(FrameLineSegment3DReadOnly other)` Tests on a per component basis, if this line segment 3D is exactly equal to `other`.
`default boolean`	`geometricallyEquals(FrameLineSegment3DReadOnly other, double epsilon)` Compares `this` to `other` to determine if the two lines are geometrically similar.
`default void`	`get(FixedFramePoint3DBasics firstEndpointToPack, FixedFramePoint3DBasics secondEndpointToPack)` Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
`default void`	`get(FixedFramePoint3DBasics firstEndpointToPack, us.ihmc.euclid.tuple3D.interfaces.Point3DBasics secondEndpointToPack)` Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
`default void`	`get(FramePoint3DBasics firstEndpointToPack, FramePoint3DBasics secondEndpointToPack)` Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
`default void`	`get(FramePoint3DBasics firstEndpointToPack, us.ihmc.euclid.tuple3D.interfaces.Point3DBasics secondEndpointToPack)` Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
`default void`	`get(us.ihmc.euclid.tuple3D.interfaces.Point3DBasics firstEndpointToPack, FixedFramePoint3DBasics secondEndpointToPack)` Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
`default void`	`get(us.ihmc.euclid.tuple3D.interfaces.Point3DBasics firstEndpointToPack, FramePoint3DBasics secondEndpointToPack)` Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
`default FrameVector3DBasics`	`getDirection(boolean normalize)` Computes the vector going from the first to the second endpoint of this line segment.
`default void`	`getDirection(boolean normalize, FixedFrameVector3DBasics directionToPack)` Computes the vector going from the first to the second endpoint of this line segment.
`default void`	`getDirection(boolean normalize, FrameVector3DBasics directionToPack)` Computes the vector going from the first to the second endpoint of this line segment.
`FramePoint3DReadOnly`	`getFirstEndpoint()` Gets the read-only reference to the first endpoint of this line segment.
`FramePoint3DReadOnly`	`getSecondEndpoint()` Gets the read-only reference to the second endpoint of this line segment.
`default boolean`	`isBetweenEndpoints(FramePoint3DReadOnly point)` Tests whether the projection of the given point onto this line segment is located between the two endpoints or exactly on an endpoint.
`default boolean`	`isBetweenEndpoints(FramePoint3DReadOnly point, double epsilon)` Tests whether the projection of the given point onto this line segment is located between the two endpoints with a given conservative tolerance `epsilon`: if `epsilon > 0`, the point has to be between the endpoints and at a minimum distance of `epsilon * this.length()` from the closest endpoint.
`default FramePoint3DBasics`	`midpoint()` Computes the coordinates of the point located exactly at the middle of this line segment.
`default void`	`midpoint(FixedFramePoint3DBasics midpointToPack)` Computes the coordinates of the point located exactly at the middle of this line segment.
`default void`	`midpoint(FramePoint3DBasics midpointToPack)` Computes the coordinates of the point located exactly at the middle of this line segment.
`default boolean`	`orthogonalProjection(FixedFramePoint3DBasics pointToProject)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default boolean`	`orthogonalProjection(FramePoint3DReadOnly pointToProject, FixedFramePoint3DBasics projectionToPack)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default boolean`	`orthogonalProjection(FramePoint3DReadOnly pointToProject, FramePoint3DBasics projectionToPack)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default boolean`	`orthogonalProjection(FramePoint3DReadOnly pointToProject, us.ihmc.euclid.tuple3D.interfaces.Point3DBasics projectionToPack)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default boolean`	`orthogonalProjection(us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly pointToProject, FixedFramePoint3DBasics projectionToPack)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default boolean`	`orthogonalProjection(us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly pointToProject, FramePoint3DBasics projectionToPack)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default FramePoint3DBasics`	`orthogonalProjectionCopy(FramePoint3DReadOnly pointToProject)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default FramePoint3DBasics`	`orthogonalProjectionCopy(us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly pointToProject)` Computes the orthogonal projection of a 3D point on this 3D line segment.
`default double`	`percentageAlongLineSegment(FramePoint3DReadOnly point)` Computes a percentage along the line segment representing the location of the given point once projected onto this line segment.
`default FramePoint3DBasics`	`pointBetweenEndpointsGivenPercentage(double percentage)` Computes the coordinates of the point located at a given percentage on this line segment: `pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)`
`default void`	`pointBetweenEndpointsGivenPercentage(double percentage, FixedFramePoint3DBasics pointToPack)` Computes the coordinates of the point located at a given percentage on this line segment: `pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)`
`default void`	`pointBetweenEndpointsGivenPercentage(double percentage, FramePoint3DBasics pointToPack)` Computes the coordinates of the point located at a given percentage on this line segment: `pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)`
`default FramePoint3DBasics`	`pointOnLineGivenPercentage(double percentage)` Computes the coordinates of the point located on the line this line segment is lying on: `pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)`
`default void`	`pointOnLineGivenPercentage(double percentage, FixedFramePoint3DBasics pointToPack)` Computes the coordinates of the point located on the line this line segment is lying on: `pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)`
`default void`	`pointOnLineGivenPercentage(double percentage, FramePoint3DBasics pointToPack)` Computes the coordinates of the point located on the line this line segment is lying on: `pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)`

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.ReferenceFrameHolder
checkReferenceFrameMatch, checkReferenceFrameMatch, getReferenceFrame

- Method Detail
  - getFirstEndpoint
```
FramePoint3DReadOnly getFirstEndpoint()
```
    Gets the read-only reference to the first endpoint of this line segment.
    
    Specified by:
    
    getFirstEndpoint in interface LineSegment3DReadOnly
    
    Returns:
    
    the reference to the first endpoint of this line segment.
  - getSecondEndpoint
```
FramePoint3DReadOnly getSecondEndpoint()
```
    Gets the read-only reference to the second endpoint of this line segment.
    
    Specified by:
    
    getSecondEndpoint in interface LineSegment3DReadOnly
    
    Returns:
    
    the reference to the second endpoint of this line segment.
  - get
```
default void get(FixedFramePoint3DBasics firstEndpointToPack,
                 us.ihmc.euclid.tuple3D.interfaces.Point3DBasics secondEndpointToPack)
```
    Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
    
    Parameters:
    
    firstEndpointToPack - point in which the coordinates of this line segment's first endpoint are stored. Modified.
    
    secondEndpointToPack - point in which the coordinates of this line segment's second endpoint are stored. Modified.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and firstEndpointToPack are not expressed in the same reference frame.
  - get
```
default void get(FramePoint3DBasics firstEndpointToPack,
                 us.ihmc.euclid.tuple3D.interfaces.Point3DBasics secondEndpointToPack)
```
    Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
    
    Parameters:
    
    firstEndpointToPack - point in which the coordinates of this line segment's first endpoint are stored. Modified.
    
    secondEndpointToPack - point in which the coordinates of this line segment's second endpoint are stored. Modified.
  - get
```
default void get(us.ihmc.euclid.tuple3D.interfaces.Point3DBasics firstEndpointToPack,
                 FixedFramePoint3DBasics secondEndpointToPack)
```
    Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
    
    Parameters:
    
    firstEndpointToPack - point in which the coordinates of this line segment's first endpoint are stored. Modified.
    
    secondEndpointToPack - point in which the coordinates of this line segment's second endpoint are stored. Modified.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and secondEndpointToPack are not expressed in the same reference frame.
  - get
```
default void get(us.ihmc.euclid.tuple3D.interfaces.Point3DBasics firstEndpointToPack,
                 FramePoint3DBasics secondEndpointToPack)
```
    Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
    
    Parameters:
    
    firstEndpointToPack - point in which the coordinates of this line segment's first endpoint are stored. Modified.
    
    secondEndpointToPack - point in which the coordinates of this line segment's second endpoint are stored. Modified.
  - get
```
default void get(FixedFramePoint3DBasics firstEndpointToPack,
                 FixedFramePoint3DBasics secondEndpointToPack)
```
    Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
    
    Parameters:
    
    firstEndpointToPack - point in which the coordinates of this line segment's first endpoint are stored. Modified.
    
    secondEndpointToPack - point in which the coordinates of this line segment's second endpoint are stored. Modified.
    
    Throws:
    
    ReferenceFrameMismatchException - if this, firstEndpointToPack, and secondEndpointToPack are not expressed in the same reference frame.
  - get
```
default void get(FramePoint3DBasics firstEndpointToPack,
                 FramePoint3DBasics secondEndpointToPack)
```
    Gets the endpoints defining this line segment by storing their coordinates in the given arguments.
    
    Parameters:
    
    firstEndpointToPack - point in which the coordinates of this line segment's first endpoint are stored. Modified.
    
    secondEndpointToPack - point in which the coordinates of this line segment's second endpoint are stored. Modified.
  - getDirection
```
default FrameVector3DBasics getDirection(boolean normalize)
```
    Computes the vector going from the first to the second endpoint of this line segment.
    
    Specified by:
    
    getDirection in interface LineSegment3DReadOnly
    
    Parameters:
    
    normalize - whether the direction vector is to be normalized.
    
    directionToPack - vector in which the direction is stored. Modified.
    
    Returns:
    
    the direction of this line segment.
  - getDirection
```
default void getDirection(boolean normalize,
                          FixedFrameVector3DBasics directionToPack)
```
    Computes the vector going from the first to the second endpoint of this line segment.
    
    Parameters:
    
    normalize - whether the direction vector is to be normalized.
    
    directionToPack - vector in which the direction is stored. Modified.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and directionToPack are not expressed in the same reference frame.
  - getDirection
```
default void getDirection(boolean normalize,
                          FrameVector3DBasics directionToPack)
```
    Computes the vector going from the first to the second endpoint of this line segment.
    
    Parameters:
    
    normalize - whether the direction vector is to be normalized.
    
    directionToPack - vector in which the direction is stored. Modified.
  - distanceSquared
```
default double distanceSquared(FramePoint3DReadOnly point)
```
    Returns the square of the minimum distance between a point and this given line segment.
    Edge cases:
    - if this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns the distance between firstEndpoint and the given point.
    Parameters:
    
    point - 3D point to compute the distance from this line segment. Not modified.
    
    Returns:
    
    the minimum distance between the 3D point and this 3D line segment.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and point are not expressed in the same reference frame.
  - distance
```
default double distance(FramePoint3DReadOnly point)
```
    Returns the minimum distance between a point and this given line segment.
    Edge cases:
    - if this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns the distance between firstEndpoint and the given point.
    Parameters:
    
    point - 3D point to compute the distance from this line segment. Not modified.
    
    Returns:
    
    the minimum distance between the 3D point and this 3D line segment.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and point are not expressed in the same reference frame.
  - distance
```
default double distance(FrameLineSegment3DReadOnly frameLineSegment3DReadOnly)
```
    This methods computes the minimum distance between this line segment and the given one. Useful link.
    
    Parameters:
    
    frameLineSegment3DReadOnly - the other line segment to compute the distance from. Not modified.
    
    Returns:
    
    the minimum distance between the two line segments.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and frameLineSegment3DReadOnly are not expressed in the same reference frame.
  - orthogonalProjectionCopy
```
default FramePoint3DBasics orthogonalProjectionCopy(us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly pointToProject)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    WARNING: This method generates garbage.
    Specified by:
    
    orthogonalProjectionCopy in interface LineSegment3DReadOnly
    
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    Returns:
    
    the projection of the point onto the line segment or null if the method failed.
  - orthogonalProjectionCopy
```
default FramePoint3DBasics orthogonalProjectionCopy(FramePoint3DReadOnly pointToProject)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    WARNING: This method generates garbage.
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    Returns:
    
    the projection of the point onto the line segment or null if the method failed.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and pointToProject are not expressed in the same reference frame.
  - orthogonalProjection
```
default boolean orthogonalProjection(FixedFramePoint3DBasics pointToProject)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    Parameters:
    
    pointToProject - the point to project on this line segment. Modified.
    
    Returns:
    
    whether the method succeeded or not.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and pointToProject are not expressed in the same reference frame.
  - orthogonalProjection
```
default boolean orthogonalProjection(FramePoint3DReadOnly pointToProject,
                                     us.ihmc.euclid.tuple3D.interfaces.Point3DBasics projectionToPack)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    projectionToPack - point in which the projection of the point onto this line segment is stored. Modified.
    
    Returns:
    
    whether the method succeeded or not.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and pointToProject are not expressed in the same reference frame.
  - orthogonalProjection
```
default boolean orthogonalProjection(us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly pointToProject,
                                     FixedFramePoint3DBasics projectionToPack)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    projectionToPack - point in which the projection of the point onto this line segment is stored. Modified.
    
    Returns:
    
    whether the method succeeded or not.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and pointToProject are not expressed in the same reference frame.
  - orthogonalProjection
```
default boolean orthogonalProjection(us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly pointToProject,
                                     FramePoint3DBasics projectionToPack)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    projectionToPack - point in which the projection of the point onto this line segment is stored. Modified.
    
    Returns:
    
    whether the method succeeded or not.
  - orthogonalProjection
```
default boolean orthogonalProjection(FramePoint3DReadOnly pointToProject,
                                     FixedFramePoint3DBasics projectionToPack)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    projectionToPack - point in which the projection of the point onto this line segment is stored. Modified.
    
    Returns:
    
    whether the method succeeded or not.
    
    Throws:
    
    ReferenceFrameMismatchException - if this, pointToProject and projectionToPack are not expressed in the same reference frame.
  - orthogonalProjection
```
default boolean orthogonalProjection(FramePoint3DReadOnly pointToProject,
                                     FramePoint3DBasics projectionToPack)
```
    Computes the orthogonal projection of a 3D point on this 3D line segment.
    Edge cases:
    - if the length of this line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method returns firstEndpoint.
    - the projection can not be outside the line segment. When the projection on the corresponding line is outside the line segment, the result is the closest of the two endpoints.
    Parameters:
    
    pointToProject - the point to compute the projection of. Not modified.
    
    projectionToPack - point in which the projection of the point onto this line segment is stored. Modified.
    
    Returns:
    
    whether the method succeeded or not.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and pointToProject are not expressed in the same reference frame.
  - isBetweenEndpoints
```
default boolean isBetweenEndpoints(FramePoint3DReadOnly point)
```
    Tests whether the projection of the given point onto this line segment is located between the two endpoints or exactly on an endpoint.
    
    Parameters:
    
    point - the query. Not modified.
    
    Returns:
    
    true if the projection of the point is between the endpoints of this line segment, false otherwise.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and point are not expressed in the same reference frame.
  - isBetweenEndpoints
```
default boolean isBetweenEndpoints(FramePoint3DReadOnly point,
                                   double epsilon)
```
    Tests whether the projection of the given point onto this line segment is located between the two endpoints with a given conservative tolerance epsilon:
    - if epsilon > 0, the point has to be between the endpoints and at a minimum distance of epsilon * this.length() from the closest endpoint.
    - if epsilon < 0, the point has to be between the endpoints or at a maximum distance of -epsilon * this.length() from the closest endpoint.
    - if epsilon = 0, the point has to be between the endpoints or equal to one of the endpoints.
    Parameters:
    
    point - the query. Not modified.
    
    epsilon - the tolerance to use.
    
    Returns:
    
    true if the projection of the point is between the endpoints of this line segment, false otherwise.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and point are not expressed in the same reference frame.
  - percentageAlongLineSegment
```
default double percentageAlongLineSegment(FramePoint3DReadOnly point)
```
    Computes a percentage along the line segment representing the location of the given point once projected onto this line segment. The returned percentage is in ] -∞; ∞ [, 0.0 representing firstEndpoint, and 1.0 representing secondEndpoint.
    For example, if the returned percentage is 0.5, it means that the projection of the given point is located at the middle of this line segment. The coordinates of the projection of the point can be computed from the percentage as follows:
    Point3D projection = new Point3D(); projection.interpolate(lineSegmentStart, lineSegmentEnd, percentage);
    
    Edge cases:
    - if the length of the given line segment is too small, i.e. this.lengthSquared() < EuclidGeometryTools.ONE_TRILLIONTH, this method fails and returns 0.0.
    Parameters:
    
    point - the query point. Not modified.
    
    Returns:
    
    the computed percentage along the line segment representing where the point projection is located.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and point are not expressed in the same reference frame.
  - pointBetweenEndpointsGivenPercentage
```
default FramePoint3DBasics pointBetweenEndpointsGivenPercentage(double percentage)
```
    Computes the coordinates of the point located at a given percentage on this line segment:
    pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)
    
    Specified by:
    
    pointBetweenEndpointsGivenPercentage in interface LineSegment3DReadOnly
    
    Parameters:
    
    percentage - the percentage along this line segment of the point. Must be in [0, 1].
    
    pointToPack - where the result is stored. Modified.
    
    Returns:
    
    the computed point.
    
    Throws:
    
    {@link - RuntimeException} if percentage ∉ [0, 1].
    
    ReferenceFrameMismatchException - if this and pointToPack are not expressed in the same reference frame.
  - pointBetweenEndpointsGivenPercentage
```
default void pointBetweenEndpointsGivenPercentage(double percentage,
                                                  FixedFramePoint3DBasics pointToPack)
```
    Computes the coordinates of the point located at a given percentage on this line segment:
    pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)
    
    Parameters:
    
    percentage - the percentage along this line segment of the point. Must be in [0, 1].
    
    pointToPack - where the result is stored. Modified.
    
    Throws:
    
    {@link - RuntimeException} if percentage ∉ [0, 1].
    
    ReferenceFrameMismatchException - if this and pointToPack are not expressed in the same reference frame.
  - pointBetweenEndpointsGivenPercentage
```
default void pointBetweenEndpointsGivenPercentage(double percentage,
                                                  FramePoint3DBasics pointToPack)
```
    Computes the coordinates of the point located at a given percentage on this line segment:
    pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)
    
    Parameters:
    
    percentage - the percentage along this line segment of the point. Must be in [0, 1].
    
    pointToPack - where the result is stored. Modified.
    
    Throws:
    
    {@link - RuntimeException} if percentage ∉ [0, 1].
  - pointOnLineGivenPercentage
```
default FramePoint3DBasics pointOnLineGivenPercentage(double percentage)
```
    Computes the coordinates of the point located on the line this line segment is lying on:
    pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)
    
    Specified by:
    
    pointOnLineGivenPercentage in interface LineSegment3DReadOnly
    
    Parameters:
    
    percentage - the percentage along this line segment of the point.
    
    pointToPack - where the result is stored. Modified.
    
    Returns:
    
    the computed point.
  - pointOnLineGivenPercentage
```
default void pointOnLineGivenPercentage(double percentage,
                                        FixedFramePoint3DBasics pointToPack)
```
    Computes the coordinates of the point located on the line this line segment is lying on:
    pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)
    
    Parameters:
    
    percentage - the percentage along this line segment of the point.
    
    pointToPack - where the result is stored. Modified.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and pointToPack are not expressed in the same reference frame.
  - pointOnLineGivenPercentage
```
default void pointOnLineGivenPercentage(double percentage,
                                        FramePoint3DBasics pointToPack)
```
    Computes the coordinates of the point located on the line this line segment is lying on:
    pointToPack.interpolate(firstEndpoint, secondEndpoint, percentage)
    
    Parameters:
    
    percentage - the percentage along this line segment of the point.
    
    pointToPack - where the result is stored. Modified.
  - dotProduct
```
default double dotProduct(FrameLineSegment3DReadOnly other)
```
    Computes the dot product of this line segment with the other line segment such that:
    this · other = Math.cos(α) * this.length() * other.length()
    where α is the angle from this to the other line segment.
    
    Parameters:
    
    other - the other line segment used to compute the dot product. Not modified.
    
    Returns:
    
    the value of the dot product.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and other are not expressed in the same reference frame.
  - midpoint
```
default FramePoint3DBasics midpoint()
```
    Computes the coordinates of the point located exactly at the middle of this line segment.
    
    Specified by:
    
    midpoint in interface LineSegment3DReadOnly
    
    Parameters:
    
    midpointToPack - point in which the mid-point of this line segment is stored. Modified.
    
    Returns:
    
    the mid-point of this line segment.
  - midpoint
```
default void midpoint(FixedFramePoint3DBasics midpointToPack)
```
    Computes the coordinates of the point located exactly at the middle of this line segment.
    
    Parameters:
    
    midpointToPack - point in which the mid-point of this line segment is stored. Modified.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and midpointToPack are not expressed in the same reference frame.
  - midpoint
```
default void midpoint(FramePoint3DBasics midpointToPack)
```
    Computes the coordinates of the point located exactly at the middle of this line segment.
    
    Parameters:
    
    midpointToPack - point in which the mid-point of this line segment is stored. Modified.
  - epsilonEquals
```
default boolean epsilonEquals(FrameLineSegment3DReadOnly other,
                              double epsilon)
```
    Tests on a per-component basis on both endpoints if this line segment is equal to other with the tolerance epsilon.
    If the two line segments have different frames, this method returns false.
    
    Parameters:
    
    other - the query. Not modified.
    
    epsilon - the tolerance to use.
    
    Returns:
    
    true if the two line segments are equal and are expressed in the same reference frame, false otherwise.
  - geometricallyEquals
```
default boolean geometricallyEquals(FrameLineSegment3DReadOnly other,
                                    double epsilon)
```
    Compares this to other to determine if the two lines are geometrically similar.
    Two lines are considered geometrically equal is they are collinear, pointing toward the same or opposite direction.
    
    Parameters:
    
    other - the line to compare to. Not modified.
    
    epsilon - the tolerance of the comparison.
    
    Returns:
    
    true if the two lines represent the same geometry, false otherwise.
    
    Throws:
    
    ReferenceFrameMismatchException - if this and other are not expressed in the same reference frame.
  - equals
```
default boolean equals(FrameLineSegment3DReadOnly other)
```
    Tests on a per component basis, if this line segment 3D is exactly equal to other.
    If the two line segments have different frames, this method returns false.
    
    Parameters:
    
    other - the other line segment 3D to compare against this. Not modified.
    
    Returns:
    
    true if the two line segments are exactly equal component-wise and are expressed in the same reference frame, false otherwise.

Interface FrameLineSegment3DReadOnly

Method Summary

Methods inherited from interface us.ihmc.euclid.geometry.interfaces.LineSegment3DReadOnly

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

Method Detail

getFirstEndpoint

getSecondEndpoint

get

get

get

get

get

get

getDirection

getDirection

getDirection

distanceSquared

distance

distance

orthogonalProjectionCopy

orthogonalProjectionCopy

orthogonalProjection

orthogonalProjection

orthogonalProjection

orthogonalProjection

orthogonalProjection

orthogonalProjection

isBetweenEndpoints

isBetweenEndpoints

percentageAlongLineSegment

pointBetweenEndpointsGivenPercentage

pointBetweenEndpointsGivenPercentage

pointBetweenEndpointsGivenPercentage

pointOnLineGivenPercentage

pointOnLineGivenPercentage

pointOnLineGivenPercentage

dotProduct

midpoint

midpoint

midpoint

epsilonEquals

geometricallyEquals

equals