us.ihmc.utilities.math.geometry
Class FrameLine
java.lang.Object
us.ihmc.utilities.math.geometry.FrameLine
- All Implemented Interfaces:
- ReferenceFrameHolder
public class FrameLine
- extends java.lang.Object
- implements ReferenceFrameHolder
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
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)
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)