us.ihmc.euclid.referenceFrame.interfaces

Interface FrameQuaternionReadOnly

All Superinterfaces:

FrameTuple4DReadOnly, us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly, us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly, ReferenceFrameHolder, us.ihmc.euclid.tuple4D.interfaces.Tuple4DReadOnly

All Known Subinterfaces:

FixedFrameQuaternionBasics, FrameQuaternionBasics

All Known Implementing Classes:

FrameQuaternion

public interface FrameQuaternionReadOnly
extends FrameTuple4DReadOnly, us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly

Read-only interface for a quaternion expressed in a given reference frame.

In addition to representing a QuaternionReadOnly, a ReferenceFrame is associated to a FrameQuaternionReadOnly. This allows, for instance, to enforce, at runtime, that operations on quaternions occur in the same coordinate system. Also, via the method FrameChangeable.changeFrame(ReferenceFrame), one can easily calculates the value of a quaternion in different reference frames.

Because a FrameQuaternionReadOnly extends QuaternionReadOnly, it is compatible with methods only requiring QuaternionReadOnly. 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 FrameQuaternionReadOnly.

Field Summary

Fields inherited from interface us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly

EPS_UNITARY, GEOMETRICALLY_EQUALS_THRESHOLD

Fields inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly

ORIENTATION_2D_EPSILON

Method Summary

Modifier and Type	Method and Description
default void	addTransform(FixedFrameTuple3DBasics tupleToTransform) Transforms the given tuple by this orientation and adds the result to the tuple.
default void	addTransform(FrameTuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.
default void	addTransform(FrameTuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.
default void	addTransform(FrameTuple3DReadOnly tupleOriginal, us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics tupleTransformed) Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.
default void	addTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.
default void	addTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.
default double	distance(FrameQuaternionReadOnly other) Computes and returns the distance from this quaternion to other.
default double	distancePrecise(FrameQuaternionReadOnly other) Computes and returns the distance from this quaternion to other.
default boolean	geometricallyEquals(FrameQuaternionReadOnly other, double epsilon) Compares this to other to determine if the two frame quaternions are geometrically similar, i.e.
default void	get(FixedFrameQuaternionBasics quaternionToPack) Packs this quaternion in the given quaternionToPack.
default void	get(FrameQuaternionBasics quaternionToPack) Packs this quaternion in the given quaternionToPack.
default void	getEuler(FixedFrameTuple3DBasics eulerAnglesToPack) Computes and packs the orientation described by this quaternion as the Euler angles.
default void	getEuler(FrameTuple3DBasics eulerAnglesToPack) Computes and packs the orientation described by this quaternion as the Euler angles.
default void	getRotationVector(FixedFrameVector3DBasics rotationVectorToPack) Computes and packs the orientation described by this quaternion as a rotation vector.
default void	getRotationVector(FrameVector3DBasics rotationVectorToPack) Computes and packs the orientation described by this quaternion as a rotation vector.
default void	inverseTransform(FixedFrameQuaternionBasics quaternionToTransform) Performs the inverse of the transform to the given quaternion quaternionToTransform.
default void	inverseTransform(FixedFrameTuple2DBasics tupleToTransform) Performs the inverse of the transform to the given tuple tupleToTransform.
default void	inverseTransform(FixedFrameTuple2DBasics tupleToTransform, boolean checkIfTransformInXYPlane) Performs the inverse of the transform to the given tuple tupleToTransform.
default void	inverseTransform(FixedFrameTuple3DBasics tupleToTransform) Performs the inverse of the transform to the given tuple tupleToTransform.
default void	inverseTransform(FixedFrameVector4DBasics vectorToTransform) Performs the inverse of the transform to the vector part the given 4D vector by this quaternion.
default void	inverseTransform(FrameQuaternionReadOnly quaternionOriginal, FixedFrameQuaternionBasics quaternionTransformed) Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.
default void	inverseTransform(FrameQuaternionReadOnly quaternionOriginal, FrameQuaternionBasics quaternionTransformed) Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.
default void	inverseTransform(FrameQuaternionReadOnly quaternionOriginal, us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics quaternionTransformed) Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.
default void	inverseTransform(FrameTuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple2DReadOnly tupleOriginal, us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple2DReadOnly tupleOriginal, us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(FrameTuple3DReadOnly tupleOriginal, us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	inverseTransform(FrameVector4DReadOnly vectorOriginal, FixedFrameVector4DBasics vectorTransformed) Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.
default void	inverseTransform(FrameVector4DReadOnly vectorOriginal, FrameVector4DBasics vectorTransformed) Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.
default void	inverseTransform(FrameVector4DReadOnly vectorOriginal, us.ihmc.euclid.tuple4D.interfaces.Vector4DBasics vectorTransformed) Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal, FixedFrameQuaternionBasics quaternionTransformed) Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal, FrameQuaternionBasics quaternionTransformed) Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) Performs the inverse of the transform to the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal, FixedFrameVector4DBasics vectorTransformed) Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.
default void	inverseTransform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal, FrameVector4DBasics vectorTransformed) Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.
default void	transform(FixedFrameQuaternionBasics quaternionToTransform) Transforms the given quaternion by this quaternion.
default void	transform(FixedFrameTuple2DBasics tupleToTransform) Transforms the given tuple tupleToTransform by this quaternion.
default void	transform(FixedFrameTuple2DBasics tupleToTransform, boolean checkIfTransformInXYPlane) Transforms the given tuple tupleToTransform by this quaternion.
default void	transform(FixedFrameTuple3DBasics tupleToTransform) Transforms the given tuple tupleToTransform.
default void	transform(FixedFrameVector4DBasics vectorToTransform) Transforms the vector part of the given 4D vector.
default void	transform(FrameQuaternionReadOnly quaternionOriginal, FixedFrameQuaternionBasics quaternionTransformed) Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default void	transform(FrameQuaternionReadOnly quaternionOriginal, FrameQuaternionBasics quaternionTransformed) Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default void	transform(FrameQuaternionReadOnly quaternionOriginal, us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics quaternionTransformed) Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default void	transform(FrameTuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple2DReadOnly tupleOriginal, us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple2DReadOnly tupleOriginal, us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameTuple3DReadOnly tupleOriginal, us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(FrameVector4DReadOnly vectorOriginal, FixedFrameVector4DBasics vectorTransformed) Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.
default void	transform(FrameVector4DReadOnly vectorOriginal, FrameVector4DBasics vectorTransformed) Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.
default void	transform(FrameVector4DReadOnly vectorOriginal, us.ihmc.euclid.tuple4D.interfaces.Vector4DBasics vectorTransformed) Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.
default void	transform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal, FixedFrameQuaternionBasics quaternionTransformed) Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default void	transform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal, FrameQuaternionBasics quaternionTransformed) Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.
default void	transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed, boolean checkIfTransformInXYPlane) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.
default void	transform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal, FixedFrameVector4DBasics vectorTransformed) Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.
default void	transform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal, FrameVector4DBasics vectorTransformed) Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FrameTuple4DReadOnly

dot, epsilonEquals, equals

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

checkReferenceFrameMatch, checkReferenceFrameMatch, getReferenceFrame

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

addTransform, checkIfIsZOnly, checkIfUnitary, checkIfUnitary, distance, distancePrecise, geometricallyEquals, get, get, get, getAngle, getEuler, getPitch, getRoll, getRotationVector, getYaw, getYawPitchRoll, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isOrientation2D, isUnitary, isZOnly, norm, transform, transform, transform, transform

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

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

Methods inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly

addTransform, checkIfOrientation2D, checkIfOrientation2D, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isOrientation2D, toStringAsYawPitchRoll, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform

Method Detail

distance

default double distance(FrameQuaternionReadOnly other)

Computes and returns the distance from this quaternion to other.

Parameters:

other - the other quaternion to measure the distance. Not modified.

Returns:

the angle representing the distance between the two quaternions. It is contained in [0, 2pi]

Throws:

ReferenceFrameMismatchException - if reference frame of this and other do not match.

distancePrecise

default double distancePrecise(FrameQuaternionReadOnly other)

Computes and returns the distance from this quaternion to other.

This method is equivalent to QuaternionReadOnly.distance(QuaternionReadOnly) but is more accurate when computing the distance between two quaternions that are very close. Note that it is also more expensive.

Parameters:

other - the other quaternion to measure the distance. Not modified.

Returns:

the angle representing the distance between the two quaternions. It is contained in [0, 2pi]

Throws:

ReferenceFrameMismatchException - if reference frame of this and other do not match.

get

default void get(FixedFrameQuaternionBasics quaternionToPack)

Packs this quaternion in the given quaternionToPack.

Parameters:

quaternionToPack - the quaternion in which this quaternion is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionToPack do not match.

get

default void get(FrameQuaternionBasics quaternionToPack)

Packs this quaternion in the given quaternionToPack.

Parameters:

quaternionToPack - the quaternion in which this quaternion is stored. Modified.

getRotationVector

default void getRotationVector(FixedFrameVector3DBasics rotationVectorToPack)

Computes and packs the orientation described by this quaternion as a rotation vector.

WARNING: a rotation vector is different from a yaw-pitch-roll or Euler angles representation. A rotation vector is equivalent to the axis of an axis-angle that is multiplied by the angle of the same axis-angle.

Parameters:

rotationVectorToPack - the vector in which the rotation vector is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and rotationVectorToPack do not match.

getRotationVector

default void getRotationVector(FrameVector3DBasics rotationVectorToPack)

Computes and packs the orientation described by this quaternion as a rotation vector.

WARNING: a rotation vector is different from a yaw-pitch-roll or Euler angles representation. A rotation vector is equivalent to the axis of an axis-angle that is multiplied by the angle of the same axis-angle.

Parameters:

rotationVectorToPack - the vector in which the rotation vector is stored. Modified.

getEuler

default void getEuler(FixedFrameTuple3DBasics eulerAnglesToPack)

Computes and packs the orientation described by this quaternion as the Euler angles.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Parameters:

eulerAnglesToPack - the tuple in which the Euler angles are stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and eulerAnglesToPack do not match.

getEuler

default void getEuler(FrameTuple3DBasics eulerAnglesToPack)

Computes and packs the orientation described by this quaternion as the Euler angles.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.

Parameters:

eulerAnglesToPack - the tuple in which the Euler angles are stored. Modified.

transform

default void transform(FixedFrameTuple3DBasics tupleToTransform)

Transforms the given tuple tupleToTransform.

tupleToTransform = quaternion * tupleToTransform * quaternion^-1

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleToTransform do not match.

transform

default void transform(FrameTuple3DReadOnly tupleOriginal,
                       us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal,
                       FixedFrameTuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

transform

default void transform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal,
                       FrameTuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

transform

default void transform(FrameTuple3DReadOnly tupleOriginal,
                       FixedFrameTuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, and tupleTransformed do not match.

transform

default void transform(FrameTuple3DReadOnly tupleOriginal,
                       FrameTuple3DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

addTransform

default void addTransform(FixedFrameTuple3DBasics tupleToTransform)

Transforms the given tuple by this orientation and adds the result to the tuple.

If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.

Parameters:

tupleToTransform - the 3D tuple to be transformed. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

addTransform

default void addTransform(FrameTuple3DReadOnly tupleOriginal,
                          us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics tupleTransformed)

Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.

If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.

Parameters:

tupleOriginal - the original value of the tuple to be transformed. Not modified.

tupleTransformed - the result of the original tuple after transformation. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

addTransform

default void addTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal,
                          FixedFrameTuple3DBasics tupleTransformed)

Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.

If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.

Parameters:

tupleOriginal - the original value of the tuple to be transformed. Not modified.

tupleTransformed - the result of the original tuple after transformation. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

addTransform

default void addTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal,
                          FrameTuple3DBasics tupleTransformed)

Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.

If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.

Parameters:

tupleOriginal - the original value of the tuple to be transformed. Not modified.

tupleTransformed - the result of the original tuple after transformation. Modified.

addTransform

default void addTransform(FrameTuple3DReadOnly tupleOriginal,
                          FixedFrameTuple3DBasics tupleTransformed)

Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.

If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.

Parameters:

tupleOriginal - the original value of the tuple to be transformed. Not modified.

tupleTransformed - the result of the original tuple after transformation. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, and tupleTransformed do not match.

addTransform

default void addTransform(FrameTuple3DReadOnly tupleOriginal,
                          FrameTuple3DBasics tupleTransformed)

Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.

If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.

Parameters:

tupleOriginal - the original value of the tuple to be transformed. Not modified.

tupleTransformed - the result of the original tuple after transformation. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(FixedFrameTuple2DBasics tupleToTransform)

Transforms the given tuple tupleToTransform by this quaternion.

tupleToTransform = quaternion * tupleToTransform * quaternion^-1

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleToTransform do not match.

transform

default void transform(FrameTuple2DReadOnly tupleOriginal,
                       us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this matrix does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                       FixedFrameTuple2DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

transform

default void transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                       FrameTuple2DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

transform

default void transform(FrameTuple2DReadOnly tupleOriginal,
                       FixedFrameTuple2DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, tupleTransformed do not match.

transform

default void transform(FrameTuple2DReadOnly tupleOriginal,
                       FrameTuple2DBasics tupleTransformed)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(FixedFrameTuple2DBasics tupleToTransform,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple tupleToTransform by this quaternion.

tupleToTransform = quaternion * tupleToTransform * quaternion^-1

Parameters:

tupleToTransform - the tuple to transform. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleToTransform do not match.

transform

default void transform(FrameTuple2DReadOnly tupleOriginal,
                       us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this matrix does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                       FixedFrameTuple2DBasics tupleTransformed,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, and tupleTransformed do not match.

transform

default void transform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                       FrameTuple2DBasics tupleTransformed,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(FrameTuple2DReadOnly tupleOriginal,
                       FixedFrameTuple2DBasics tupleTransformed,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, tupleTransformed do not match.

transform

default void transform(FrameTuple2DReadOnly tupleOriginal,
                       FrameTuple2DBasics tupleTransformed,
                       boolean checkIfTransformInXYPlane)

Transforms the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = quaternion * tupleOriginal * quaternion^-1

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

transform

default void transform(FixedFrameQuaternionBasics quaternionToTransform)

Transforms the given quaternion by this quaternion.

quaternionToTransform = this * quaternionToTransform

Parameters:

quaternionToTransform - the quaternion to transform. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionToTransform do not match.

transform

default void transform(FrameQuaternionReadOnly quaternionOriginal,
                       us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics quaternionTransformed)

Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionTransformed = this * quaternionOriginal

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionOriginal do not match.

transform

default void transform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal,
                       FixedFrameQuaternionBasics quaternionTransformed)

Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionTransformed = this * quaternionOriginal

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionTransformed do not match.

transform

default void transform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal,
                       FrameQuaternionBasics quaternionTransformed)

Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionTransformed = this * quaternionOriginal

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. Modified.

transform

default void transform(FrameQuaternionReadOnly quaternionOriginal,
                       FixedFrameQuaternionBasics quaternionTransformed)

Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionTransformed = this * quaternionOriginal

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, quaternionOriginal, and quaternionTransformed do not match.

transform

default void transform(FrameQuaternionReadOnly quaternionOriginal,
                       FrameQuaternionBasics quaternionTransformed)

Transforms the given quaternion quaternionOriginal and stores the result into quaternionTransformed.

quaternionTransformed = this * quaternionOriginal

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionOriginal do not match.

transform

default void transform(FixedFrameVector4DBasics vectorToTransform)

Transforms the vector part of the given 4D vector.

vectorToTransform.s = vectorToTransform.s
vectorToTransform.xyz = this * vectorToTransform.xyz * this^-1

Parameters:

vectorToTransform - the vector to transform. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorToTransform do not match.

transform

default void transform(FrameVector4DReadOnly vectorOriginal,
                       us.ihmc.euclid.tuple4D.interfaces.Vector4DBasics vectorTransformed)

Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this * vectorOriginal.xyz * this^-1

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorOriginal do not match.

transform

default void transform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal,
                       FixedFrameVector4DBasics vectorTransformed)

Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this * vectorOriginal.xyz * this^-1

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorTransformed do not match.

transform

default void transform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal,
                       FrameVector4DBasics vectorTransformed)

Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this * vectorOriginal.xyz * this^-1

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

transform

default void transform(FrameVector4DReadOnly vectorOriginal,
                       FixedFrameVector4DBasics vectorTransformed)

Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this * vectorOriginal.xyz * this^-1

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, vectorOriginal, and vectorTransformed do not match.

transform

default void transform(FrameVector4DReadOnly vectorOriginal,
                       FrameVector4DBasics vectorTransformed)

Transforms the vector part of the given 4D vector vectorOriginal and stores the result into vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this * vectorOriginal.xyz * this^-1

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorOriginal do not match.

inverseTransform

default void inverseTransform(FixedFrameTuple3DBasics tupleToTransform)

Performs the inverse of the transform to the given tuple tupleToTransform.

tupleToTransform = this^-1 * tupleToTransform * this

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleToTransform do not match.

inverseTransform

default void inverseTransform(FrameTuple3DReadOnly tupleOriginal,
                              us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal,
                              FixedFrameTuple3DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tupleOriginal,
                              FrameTuple3DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal by this quaternion and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

inverseTransform

default void inverseTransform(FrameTuple3DReadOnly tupleOriginal,
                              FixedFrameTuple3DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, and tupleTransformed do not match.

inverseTransform

default void inverseTransform(FrameTuple3DReadOnly tupleOriginal,
                              FrameTuple3DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

inverseTransform

default void inverseTransform(FixedFrameTuple2DBasics tupleToTransform)

Performs the inverse of the transform to the given tuple tupleToTransform.

tupleToTransform = this^-1 * tupleToTransform * this

Parameters:

tupleToTransform - the tuple to transform. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleToTransform do not match.

inverseTransform

default void inverseTransform(FrameTuple2DReadOnly tupleOriginal,
                              us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

inverseTransform

default void inverseTransform(FrameTuple2DReadOnly tupleOriginal,
                              FixedFrameTuple2DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, and tupleTransformed do not match.

inverseTransform

default void inverseTransform(FrameTuple2DReadOnly tupleOriginal,
                              FrameTuple2DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                              FixedFrameTuple2DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                              FrameTuple2DBasics tupleTransformed)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if this quaternion does not represent a transformation in the XY plane.

inverseTransform

default void inverseTransform(FixedFrameTuple2DBasics tupleToTransform,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple tupleToTransform.

tupleToTransform = this^-1 * tupleToTransform * this

Parameters:

tupleToTransform - the tuple to transform. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleToTransform do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                              FixedFrameTuple2DBasics tupleTransformed,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleTransformed do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tupleOriginal,
                              FrameTuple2DBasics tupleTransformed,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

inverseTransform

default void inverseTransform(FrameTuple2DReadOnly tupleOriginal,
                              FixedFrameTuple2DBasics tupleTransformed,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this, tupleOriginal, and tupleTransformed do not match.

inverseTransform

default void inverseTransform(FrameTuple2DReadOnly tupleOriginal,
                              FrameTuple2DBasics tupleTransformed,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

inverseTransform

default void inverseTransform(FrameTuple2DReadOnly tupleOriginal,
                              us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics tupleTransformed,
                              boolean checkIfTransformInXYPlane)

Performs the inverse of the transform to the given tuple tupleOriginal and stores the result in tupleTransformed.

tupleTransformed = this^-1 * tupleOriginal * this

Parameters:

tupleOriginal - the tuple to transform. Not modified.

tupleTransformed - the tuple to store the result. Modified.

checkIfTransformInXYPlane - whether this method should assert that this quaternion represents a transformation in the XY plane.

Throws:

us.ihmc.euclid.exceptions.NotAMatrix2DException - if checkIfTransformInXYPlane == true and this quaternion does not represent a transformation in the XY plane.

ReferenceFrameMismatchException - if reference frame of this and tupleOriginal do not match.

inverseTransform

default void inverseTransform(FixedFrameQuaternionBasics quaternionToTransform)

Performs the inverse of the transform to the given quaternion quaternionToTransform.

quaternionToTransform = this^-1 * quaternionToTransform * this

Parameters:

quaternionToTransform - the quaternion to transform. Not modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionToTransform do not match.

inverseTransform

default void inverseTransform(FrameQuaternionReadOnly quaternionOriginal,
                              us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics quaternionTransformed)

Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.

quaternionTransformed = this^-1 * quaternionOriginal * this

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionOriginal do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal,
                              FixedFrameQuaternionBasics quaternionTransformed)

Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.

quaternionTransformed = this^-1 * quaternionOriginal * this

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionTransformed do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly quaternionOriginal,
                              FrameQuaternionBasics quaternionTransformed)

Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.

quaternionTransformed = this^-1 * quaternionOriginal * this

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion to store the result. Modified.

inverseTransform

default void inverseTransform(FrameQuaternionReadOnly quaternionOriginal,
                              FixedFrameQuaternionBasics quaternionTransformed)

Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.

quaternionTransformed = this^-1 * quaternionOriginal * this

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, quaternionOriginal, and quaternionTransformed do not match.

inverseTransform

default void inverseTransform(FrameQuaternionReadOnly quaternionOriginal,
                              FrameQuaternionBasics quaternionTransformed)

Performs the inverse of the transform to the given quaternion quaternionOriginal by this quaternion and stores the result in quaternionTransformed.

quaternionTransformed = this^-1 * quaternionOriginal * this

Parameters:

quaternionOriginal - the quaternion to transform. Not modified.

quaternionTransformed - the quaternion to store the result. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and quaternionOriginal do not match.

inverseTransform

default void inverseTransform(FixedFrameVector4DBasics vectorToTransform)

Performs the inverse of the transform to the vector part the given 4D vector by this quaternion.

vectorToTransform.s = vectorToTransform.s
vectorToTransform.xyz = this^-1 * vectorToTransform.xyz * this

Parameters:

vectorToTransform - the vector to transform. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorToTransform do not match.

inverseTransform

default void inverseTransform(FrameVector4DReadOnly vectorOriginal,
                              us.ihmc.euclid.tuple4D.interfaces.Vector4DBasics vectorTransformed)

Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this^-1 * vectorOriginal.xyz * this

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorOriginal do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal,
                              FixedFrameVector4DBasics vectorTransformed)

Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this^-1 * vectorOriginal.xyz * this

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorTransformed do not match.

inverseTransform

default void inverseTransform(us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly vectorOriginal,
                              FrameVector4DBasics vectorTransformed)

Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this^-1 * vectorOriginal.xyz * this

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

inverseTransform

default void inverseTransform(FrameVector4DReadOnly vectorOriginal,
                              FixedFrameVector4DBasics vectorTransformed)

Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this^-1 * vectorOriginal.xyz * this

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this, vectorOriginal, and vectorTransformed do not match.

inverseTransform

default void inverseTransform(FrameVector4DReadOnly vectorOriginal,
                              FrameVector4DBasics vectorTransformed)

Performs the inverse of the transform to the vector part the given 4D vector vectorOriginal by this quaternion and stores the result in vectorTransformed.

vectorTransformed.s = vectorOriginal.s
vectorTransformed.xyz = this^-1 * vectorOriginal.xyz * this

Parameters:

vectorOriginal - the vector to transform. Not modified.

vectorTransformed - the vector in which the result is stored. Modified.

Throws:

ReferenceFrameMismatchException - if reference frame of this and vectorOriginal do not match.

geometricallyEquals

default boolean geometricallyEquals(FrameQuaternionReadOnly other,
                                    double epsilon)

Compares this to other to determine if the two frame quaternions are geometrically similar, i.e. the magnitude of their difference is less than or equal to epsilon.

Parameters:

other - the frame quaternion to compare to. Not modified.

epsilon - the tolerance of the comparison.

Returns:

true if the two frame quaternions represent the same geometry, false otherwise.

Throws:

ReferenceFrameMismatchException - if other is not expressed in the same reference frame as this.