us.ihmc.utilities.math.geometry
Class FramePose

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.FramePose
All Implemented Interfaces:
ReferenceFrameHolder

public class FramePose
extends java.lang.Object
implements ReferenceFrameHolder


Constructor Summary
FramePose(FramePoint position, FrameOrientation orientation)
           
FramePose(FramePose framePose)
           
FramePose(ReferenceFrame referenceFrame)
           
FramePose(ReferenceFrame referenceFrame, javax.vecmath.Point3d position, javax.vecmath.Quat4d orientation)
           
FramePose(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D transform)
           
 
Method Summary
 void changeFrame(ReferenceFrame desiredFrame)
           
 FramePose changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 boolean epsilonEquals(FramePose framePose, double epsilon)
           
 FramePose2d flattenTo2D()
           
 void getOrientation(FrameOrientation orientationToPack)
           
 FrameOrientation2d getOrientation2dCopy()
           
 FrameOrientation getOrientationCopy()
           
 FrameOrientation getOrientationInFrame(ReferenceFrame referenceFrame)
           
 javax.vecmath.Matrix3d getOrientationMatrix3d()
           
 void getOrientationMatrix3d(javax.vecmath.Matrix3d matrixToPack)
           
 double getPitch()
           
 void getPosition(FramePoint framePointToPack)
           
 FramePoint2d getPosition2dCopy()
           
 FramePoint getPositionCopy()
           
 FramePoint getPositionInFrame(ReferenceFrame referenceFrame)
           
 FramePoint getPostionCopy()
           
 ReferenceFrame getReferenceFrame()
           
 double getRoll()
           
 void getTransformFromPoseToFrame(javax.media.j3d.Transform3D transformToPack)
           
 double getX()
           
 double getY()
           
 double getYaw()
           
 double getZ()
           
 void set(FramePose pose)
           
 void set(ReferenceFrame referenceFrame)
           
 void set(ReferenceFrame referenceFrame, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)
           
 void set(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D transform)
           
 void setIncludingFrame(FramePose pose)
           
 void setOrientation(FrameOrientation orientation)
           
 void setPosition(FramePoint position)
           
 void setPositionChangeOnlyXY(FramePoint2d position2d)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FramePose

public FramePose(ReferenceFrame referenceFrame)

FramePose

public FramePose(FramePoint position,
                 FrameOrientation orientation)

FramePose

public FramePose(ReferenceFrame referenceFrame,
                 javax.vecmath.Point3d position,
                 javax.vecmath.Quat4d orientation)

FramePose

public FramePose(FramePose framePose)

FramePose

public FramePose(ReferenceFrame referenceFrame,
                 javax.media.j3d.Transform3D transform)
Method Detail

getReferenceFrame

public ReferenceFrame getReferenceFrame()
Specified by:
getReferenceFrame in interface ReferenceFrameHolder

getTransformFromPoseToFrame

public void getTransformFromPoseToFrame(javax.media.j3d.Transform3D transformToPack)

set

public void set(FramePose pose)

setIncludingFrame

public void setIncludingFrame(FramePose pose)

setOrientation

public void setOrientation(FrameOrientation orientation)

setPosition

public void setPosition(FramePoint position)

set

public void set(ReferenceFrame referenceFrame,
                javax.vecmath.Point3d point,
                javax.vecmath.Quat4d orientation)

set

public void set(ReferenceFrame referenceFrame,
                javax.media.j3d.Transform3D transform)

getYaw

public double getYaw()

getPitch

public double getPitch()

getRoll

public double getRoll()

getX

public double getX()

getY

public double getY()

getZ

public double getZ()

getOrientationMatrix3d

public javax.vecmath.Matrix3d getOrientationMatrix3d()

getOrientationMatrix3d

public void getOrientationMatrix3d(javax.vecmath.Matrix3d matrixToPack)

getPosition

public void getPosition(FramePoint framePointToPack)

getPostionCopy

public FramePoint getPostionCopy()

getOrientation

public void getOrientation(FrameOrientation orientationToPack)

getOrientationCopy

public FrameOrientation getOrientationCopy()

changeFrameCopy

public FramePose changeFrameCopy(ReferenceFrame desiredFrame)
Specified by:
changeFrameCopy in interface ReferenceFrameHolder

changeFrame

public void changeFrame(ReferenceFrame desiredFrame)

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
Specified by:
checkReferenceFrameMatch in interface ReferenceFrameHolder

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)
                              throws ReferenceFrameMismatchException
Specified by:
checkReferenceFrameMatch in interface ReferenceFrameHolder
Throws:
ReferenceFrameMismatchException

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

getPosition2dCopy

public FramePoint2d getPosition2dCopy()

setPositionChangeOnlyXY

public void setPositionChangeOnlyXY(FramePoint2d position2d)

getPositionInFrame

public FramePoint getPositionInFrame(ReferenceFrame referenceFrame)

getOrientationInFrame

public FrameOrientation getOrientationInFrame(ReferenceFrame referenceFrame)

epsilonEquals

public boolean epsilonEquals(FramePose framePose,
                             double epsilon)

getPositionCopy

public FramePoint getPositionCopy()

flattenTo2D

public FramePose2d flattenTo2D()

getOrientation2dCopy

public FrameOrientation2d getOrientation2dCopy()

set

public void set(ReferenceFrame referenceFrame)