us.ihmc.euclid.referenceFrame.interfaces

Interface FrameTuple2DBasics

All Superinterfaces:

us.ihmc.euclid.interfaces.Clearable, FixedFrameTuple2DBasics, FrameTuple2DReadOnly, ReferenceFrameHolder, us.ihmc.euclid.interfaces.Transformable, us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics, us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly

All Known Subinterfaces:

FramePoint2DBasics, FrameVector2DBasics

All Known Implementing Classes:

FramePoint2D, FrameVector2D

public interface FrameTuple2DBasics
extends FixedFrameTuple2DBasics

FrameTuple2DBasics is the base implementation for FramePoint2D and FrameVector2D.

In addition to representing a Tuple2DBasics, a ReferenceFrame is associated to a FrameTuple2DBasics. This allows, for instance, to enforce, at runtime, that operations on tuples occur in the same coordinate system.

This interface allows for changing the reference frame in which this tuple is expressed.

Because a FrameTuple2DBasics extends Tuple2DBasics, it is compatible with methods only requiring Tuple2DBasics. 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 FrameTuple2DBasics.

Method Summary

Modifier and Type	Method and Description
default void	setIncludingFrame(FrameTuple2DReadOnly other) Sets this frame tuple to other.
default void	setIncludingFrame(FrameTuple3DReadOnly frameTuple3DReadOnly) Sets this frame tuple from the reference frame, x and y components of the given frameTuple3DReadOnly.
default void	setIncludingFrame(ReferenceFrame referenceFrame, org.ejml.data.DenseMatrix64F matrix) Sets this tuple's components x, y in order from the given column vector starting to read from its first row index and sets this tuple frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, double[] tupleArray) Sets this tuple's components x, y in order from the given array tupleArray and sets this tuple frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, double x, double y) Sets this frame tuple's components to x and y and sets its reference frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, int startRow, org.ejml.data.DenseMatrix64F matrix) Sets this tuple's components x, y in order from the given column vector starting to read from startRow and sets this tuple frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, int startIndex, double[] tupleArray) Sets this tuple's components x, y in order from the given array tupleArray and sets this tuple frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, int startRow, int column, org.ejml.data.DenseMatrix64F matrix) Sets this tuple's components x, y in order from the given matrix starting to read from startRow at the column index column and sets this tuple frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tuple2DReadOnly) Sets this frame tuple to tuple2DReadOnly and sets its current frame to referenceFrame.
default void	setIncludingFrame(ReferenceFrame referenceFrame, us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tuple3DReadOnly) Sets this frame tuple to tuple3DReadOnly and sets its current frame to referenceFrame.
void	setReferenceFrame(ReferenceFrame referenceFrame) Sets the reference frame of this tuple without updating or modifying its x and y components.
default void	setToNaN(ReferenceFrame referenceFrame) Sets all the components of this tuple to Double.NaN and sets the current reference frame to referenceFrame.
default void	setToZero(ReferenceFrame referenceFrame) Sets all the components of this frame tuple to zero and sets the current reference frame to referenceFrame.

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FixedFrameTuple2DBasics

add, add, add, add, interpolate, interpolate, interpolate, interpolate, scaleAdd, scaleAdd, scaleAdd, scaleAdd, scaleSub, scaleSub, scaleSub, scaleSub, set, set, set, set, setAndAbsolute, setAndClipToMax, setAndClipToMin, setAndClipToMinMax, setAndNegate, setAndScale, setMatchingFrame, sub, sub, sub, sub

Methods inherited from interface us.ihmc.euclid.referenceFrame.interfaces.FrameTuple2DReadOnly

epsilonEquals, equals

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

checkReferenceFrameMatch, checkReferenceFrameMatch, getReferenceFrame

Methods inherited from interface us.ihmc.euclid.tuple2D.interfaces.Tuple2DBasics

absolute, add, add, add, addX, addY, applyInverseTransform, applyInverseTransform, applyTransform, applyTransform, clipToMax, clipToMin, clipToMinMax, containsNaN, interpolate, interpolate, negate, scale, scale, scaleAdd, scaleAdd, scaleSub, scaleSub, set, set, set, set, set, set, set, set, set, set, setAndAbsolute, setAndClipToMax, setAndClipToMin, setAndClipToMinMax, setAndNegate, setAndScale, setElement, setToNaN, setToZero, setX, setY, sub, sub, sub, subX, subY

Methods inherited from interface us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly

epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getX, getX32, getY, getY32

Method Detail

setReferenceFrame

void setReferenceFrame(ReferenceFrame referenceFrame)

Sets the reference frame of this tuple without updating or modifying its x and y components.

Parameters:

referenceFrame - the new reference frame for this frame tuple.

setToZero

default void setToZero(ReferenceFrame referenceFrame)

Sets all the components of this frame tuple to zero and sets the current reference frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame to be associated with this tuple.

setToNaN

default void setToNaN(ReferenceFrame referenceFrame)

Sets all the components of this tuple to Double.NaN and sets the current reference frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame to be associated with this tuple.

setIncludingFrame

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

Sets this frame tuple's components to x and y and sets its reference frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this frame tuple.

x - the new value for the x-component of this tuple.

y - the new value for the y-component of this tuple.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly tuple2DReadOnly)

Sets this frame tuple to tuple2DReadOnly and sets its current frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this frame tuple.

tuple2DReadOnly - the tuple to copy the values from. Not modified.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly tuple3DReadOnly)

Sets this frame tuple to tuple3DReadOnly and sets its current frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this frame tuple.

tuple3DReadOnly - the tuple to copy the values from. Not modified.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               double[] tupleArray)

Sets this tuple's components x, y in order from the given array tupleArray and sets this tuple frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this tuple.

tupleArray - the array containing the new values for this tuple's components. Not modified.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               int startIndex,
                               double[] tupleArray)

Sets this tuple's components x, y in order from the given array tupleArray and sets this tuple frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this tuple.

startIndex - the first index to start reading from in the array.

tupleArray - the array containing the new values for this tuple's components. Not modified.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y in order from the given column vector starting to read from its first row index and sets this tuple frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this tuple.

matrix - the column vector containing the new values for this tuple's components. Not modified.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               int startRow,
                               org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y in order from the given column vector starting to read from startRow and sets this tuple frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this tuple.

startRow - the first row index to start reading in the dense-matrix.

matrix - the column vector containing the new values for this tuple's components. Not modified.

setIncludingFrame

default void setIncludingFrame(ReferenceFrame referenceFrame,
                               int startRow,
                               int column,
                               org.ejml.data.DenseMatrix64F matrix)

Sets this tuple's components x, y in order from the given matrix starting to read from startRow at the column index column and sets this tuple frame to referenceFrame.

Parameters:

referenceFrame - the new reference frame for this tuple.

startRow - the first row index to start reading in the dense-matrix.

column - the column index to read in the dense-matrix.

matrix - the column vector containing the new values for this tuple's components. Not modified.

setIncludingFrame

default void setIncludingFrame(FrameTuple3DReadOnly frameTuple3DReadOnly)

Sets this frame tuple from the reference frame, x and y components of the given frameTuple3DReadOnly.

Parameters:

frameTuple3DReadOnly - the tuple to copy the values and reference frame from. Not modified.

setIncludingFrame

default void setIncludingFrame(FrameTuple2DReadOnly other)

Sets this frame tuple to other.

Parameters:

other - the other frame tuple to copy the values and reference frame from. Not modified.