com.yobotics.simulationconstructionset.util.math.frames
Class YoFrameLineSegment2d
java.lang.Object
com.yobotics.simulationconstructionset.util.math.frames.YoFrameLineSegment2d
public class YoFrameLineSegment2d
- extends java.lang.Object
Method Summary |
void |
checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrame frame)
|
void |
checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrameHolder referenceFrameHolder)
|
double |
distance(us.ihmc.utilities.math.geometry.FrameConvexPolygon2d convexPolygon)
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double |
distance(us.ihmc.utilities.math.geometry.FrameLine2d line)
|
double |
distance(us.ihmc.utilities.math.geometry.FrameLineSegment2d secondLineSegment)
|
double |
distance(us.ihmc.utilities.math.geometry.FramePoint2d point)
|
us.ihmc.utilities.math.geometry.FrameLineSegment2d |
getFrameLineSegment2d()
|
us.ihmc.utilities.math.geometry.ReferenceFrame |
getReferenceFrame()
|
double |
getX0()
|
double |
getX1()
|
double |
getY0()
|
double |
getY1()
|
us.ihmc.utilities.math.geometry.FramePoint2d[] |
intersectionWith(us.ihmc.utilities.math.geometry.FrameConvexPolygon2d convexPolygon)
|
us.ihmc.utilities.math.geometry.FramePoint2d |
intersectionWith(us.ihmc.utilities.math.geometry.FrameLine2d line)
|
us.ihmc.utilities.math.geometry.FramePoint2d |
intersectionWith(us.ihmc.utilities.math.geometry.FrameLineSegment2d secondLineSegment)
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boolean |
isBetweenEndpoints(us.ihmc.utilities.math.geometry.FramePoint2d point,
double epsilon)
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double |
length()
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us.ihmc.utilities.math.geometry.FramePoint2d |
midpoint()
|
void |
orthogonalProjection(us.ihmc.utilities.math.geometry.FramePoint2d point)
applyTransformCopy
Use of this method is discouraged. |
us.ihmc.utilities.math.geometry.FramePoint2d |
orthogonalProjectionCopy(us.ihmc.utilities.math.geometry.FramePoint2d point)
|
us.ihmc.utilities.math.geometry.FramePoint2d |
pointBetweenEndPointsGivenParameter(double parameter)
|
void |
setFrameLineSegment2d(us.ihmc.utilities.math.geometry.FrameLineSegment2d lineSegment)
|
java.lang.String |
toString()
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
YoFrameLineSegment2d
public YoFrameLineSegment2d(java.lang.String namePrefix,
java.lang.String nameSuffix,
us.ihmc.utilities.math.geometry.ReferenceFrame frame,
YoVariableRegistry registry)
YoFrameLineSegment2d
public YoFrameLineSegment2d(DoubleYoVariable x0Variable,
DoubleYoVariable y0Variable,
DoubleYoVariable x1Variable,
DoubleYoVariable y1Variable,
us.ihmc.utilities.math.geometry.ReferenceFrame frame)
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
getX0
public double getX0()
getX1
public double getX1()
getY0
public double getY0()
getY1
public double getY1()
setFrameLineSegment2d
public void setFrameLineSegment2d(us.ihmc.utilities.math.geometry.FrameLineSegment2d lineSegment)
getFrameLineSegment2d
public us.ihmc.utilities.math.geometry.FrameLineSegment2d getFrameLineSegment2d()
midpoint
public us.ihmc.utilities.math.geometry.FramePoint2d midpoint()
length
public double length()
isBetweenEndpoints
public boolean isBetweenEndpoints(us.ihmc.utilities.math.geometry.FramePoint2d point,
double epsilon)
checkReferenceFrameMatch
public void checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrameHolder referenceFrameHolder)
checkReferenceFrameMatch
public void checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrame frame)
getReferenceFrame
public us.ihmc.utilities.math.geometry.ReferenceFrame getReferenceFrame()
orthogonalProjection
public void orthogonalProjection(us.ihmc.utilities.math.geometry.FramePoint2d point)
- applyTransformCopy
Use of this method is discouraged. Only use it to speed up computation
FrameLine2ds en masse, and only when the desired reference frame is not a
parent or child of the current reference frame.
- Parameters:
transform
- Transform3DnewFrame
- ReferenceFramerequirePlanarTransform
- boolean
orthogonalProjectionCopy
public us.ihmc.utilities.math.geometry.FramePoint2d orthogonalProjectionCopy(us.ihmc.utilities.math.geometry.FramePoint2d point)
intersectionWith
public us.ihmc.utilities.math.geometry.FramePoint2d intersectionWith(us.ihmc.utilities.math.geometry.FrameLine2d line)
intersectionWith
public us.ihmc.utilities.math.geometry.FramePoint2d intersectionWith(us.ihmc.utilities.math.geometry.FrameLineSegment2d secondLineSegment)
intersectionWith
public us.ihmc.utilities.math.geometry.FramePoint2d[] intersectionWith(us.ihmc.utilities.math.geometry.FrameConvexPolygon2d convexPolygon)
distance
public double distance(us.ihmc.utilities.math.geometry.FramePoint2d point)
distance
public double distance(us.ihmc.utilities.math.geometry.FrameLine2d line)
distance
public double distance(us.ihmc.utilities.math.geometry.FrameLineSegment2d secondLineSegment)
distance
public double distance(us.ihmc.utilities.math.geometry.FrameConvexPolygon2d convexPolygon)
pointBetweenEndPointsGivenParameter
public us.ihmc.utilities.math.geometry.FramePoint2d pointBetweenEndPointsGivenParameter(double parameter)