us.ihmc.euclid.referenceFrame.interfaces

Interface FrameVector4DReadOnly

All Superinterfaces:

FrameTuple4DReadOnly, ReferenceFrameHolder, us.ihmc.euclid.tuple4D.interfaces.Tuple4DReadOnly, us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly

All Known Subinterfaces:

FixedFrameVector4DBasics, FrameVector4DBasics

All Known Implementing Classes:

FrameVector4D

public interface FrameVector4DReadOnly
extends us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly, FrameTuple4DReadOnly

Read-only interface for a 4D vector expressed in a given reference frame.

In addition to representing a Vector4DReadOnly, a ReferenceFrame is associated to a FrameVector4DReadOnly. This allows, for instance, to enforce, at runtime, that operations on vectors occur in the same coordinate system.

Because a FrameVector4DReadOnly extends Vector4DReadOnly, it is compatible with methods only requiring Vector4DReadOnly. 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 FrameVector4DReadOnly.

Method Summary

Modifier and Type	Method and Description
default boolean	geometricallyEquals(FrameVector4DReadOnly other, double epsilon) Compares this to other to determine if the two frame vectors are geometrically similar, i.e.

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Vector4DReadOnly

geometricallyEquals

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

dot, epsilonEquals, equals

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, norm, normSquared

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

checkReferenceFrameMatch, checkReferenceFrameMatch, getReferenceFrame

Method Detail

geometricallyEquals

default boolean geometricallyEquals(FrameVector4DReadOnly other,
                                    double epsilon)

Compares this to other to determine if the two frame vectors are geometrically similar, i.e. the length of the distance between them is less than or equal to epsilon.

Parameters:

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

epsilon - the tolerance of the comparison.

Returns:

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

Throws:

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