us.ihmc.utilities.math.geometry
Class FrameLine

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

public class FrameLine
extends java.lang.Object
implements ReferenceFrameHolder


Constructor Summary
FrameLine(FrameLine frameLine)
           
FrameLine(FramePoint origin, FrameVector direction)
           
FrameLine(ReferenceFrame referenceFrame, javax.vecmath.Tuple3d origin, javax.vecmath.Tuple3d direction)
           
 
Method Summary
 void changeFrame(ReferenceFrame desiredFrame)
           
 FrameLine changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 boolean epsilonEquals(FrameLine otherLine, double epsilon)
           
 javax.vecmath.Vector3d getDirection()
           
 javax.vecmath.Vector3d getDirectionCopy()
           
 FrameVector getDirectionInFrame(ReferenceFrame desiredFrame)
           
 FrameVector getFrameDirection()
           
 FramePoint getFrameOrigin()
           
 javax.vecmath.Point3d getOrigin()
           
 javax.vecmath.Point3d getOriginCopy()
           
 FramePoint getOriginInFrame(ReferenceFrame desiredFrame)
           
 ReferenceFrame getReferenceFrame()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

FrameLine

public FrameLine(FramePoint origin,
                 FrameVector direction)

FrameLine

public FrameLine(ReferenceFrame referenceFrame,
                 javax.vecmath.Tuple3d origin,
                 javax.vecmath.Tuple3d direction)

FrameLine

public FrameLine(FrameLine frameLine)
Method Detail

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

getFrameOrigin

public FramePoint getFrameOrigin()

getOriginInFrame

public FramePoint getOriginInFrame(ReferenceFrame desiredFrame)

getFrameDirection

public FrameVector getFrameDirection()

getDirectionInFrame

public FrameVector getDirectionInFrame(ReferenceFrame desiredFrame)

getOrigin

public javax.vecmath.Point3d getOrigin()

getDirection

public javax.vecmath.Vector3d getDirection()

getOriginCopy

public javax.vecmath.Point3d getOriginCopy()

getDirectionCopy

public javax.vecmath.Vector3d getDirectionCopy()

getReferenceFrame

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

changeFrameCopy

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

changeFrame

public void changeFrame(ReferenceFrame desiredFrame)

epsilonEquals

public boolean epsilonEquals(FrameLine otherLine,
                             double epsilon)