us.ihmc.utilities.math.geometry
Class FrameOrientation

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

public class FrameOrientation
extends java.lang.Object
implements ReferenceFrameHolder


Constructor Summary
FrameOrientation(FrameOrientation orientation)
           
FrameOrientation(ReferenceFrame referenceFrame)
           
FrameOrientation(ReferenceFrame referenceFrame, double[] yawPitchRoll)
           
FrameOrientation(ReferenceFrame referenceFrame, double yaw, double pitch, double roll)
           
FrameOrientation(ReferenceFrame referenceFrame, double qx, double qy, double qz, double qs)
           
FrameOrientation(ReferenceFrame referenceFrame, javax.vecmath.Matrix3d rotation)
           
FrameOrientation(ReferenceFrame referenceFrame, javax.vecmath.Quat4d quaternion)
           
FrameOrientation(ReferenceFrame referenceFrame, javax.vecmath.Quat4f quaternion)
           
FrameOrientation(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D transform3D)
           
 
Method Summary
 FrameOrientation applyRotationCopy(javax.vecmath.Matrix3d rotation)
           
 FrameOrientation applyTransformCopy(javax.media.j3d.Transform3D transform3D)
           
static FrameOrientation averageOrientations(java.util.ArrayList<FrameOrientation> orientations)
           
 void changeFrame(ReferenceFrame desiredFrame)
           
 FrameOrientation changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 javax.vecmath.Matrix3d getMatrix3d()
           
 void getMatrix3d(javax.vecmath.Matrix3d matrixToPack)
           
 javax.vecmath.Quat4d getQuaternion()
           
 void getQuaternion(javax.vecmath.Quat4d quat4d)
           
 ReferenceFrame getReferenceFrame()
           
 void getTransform3D(javax.media.j3d.Transform3D transformToPack)
           
 javax.media.j3d.Transform3D getTransform3DCopy()
           
 double[] getYawPitchRoll()
           
 void getYawPitchRoll(double[] yawPitchRoll)
           
static void getYawPitchRoll(javax.vecmath.Quat4f quat, double[] yawPitchRoll)
           
 void interpolate(FrameOrientation orientationOne, FrameOrientation orientationTwo, double alpha)
           
 void set(FrameOrientation orientation)
           
 void set(javax.vecmath.Matrix3d rotationMatrix)
           
 void set(javax.vecmath.Quat4d quat4d)
           
 void set(javax.vecmath.Quat4f quat4f)
           
 void set(ReferenceFrame referenceFrame)
           
 void set(ReferenceFrame referenceFrame, javax.vecmath.Matrix3d matrix)
           
 void set(ReferenceFrame referenceFrame, javax.vecmath.Quat4d quat)
           
 void set(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D transform3D)
           
 void setAndChangeFrame(FrameOrientation frameOrientation)
           
 void setIncludingFrame(FrameOrientation orientation)
           
 void setToIdentity()
           
 void setYawPitchRoll(double[] yawPitchRoll)
           
 void setYawPitchRoll(double yaw, double pitch, double roll)
           
 java.lang.String toString()
           
 java.lang.String toStringAsYawPitchRoll()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FrameOrientation

public FrameOrientation(FrameOrientation orientation)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        javax.media.j3d.Transform3D transform3D)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        javax.vecmath.Quat4d quaternion)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        javax.vecmath.Quat4f quaternion)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        double qx,
                        double qy,
                        double qz,
                        double qs)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        double yaw,
                        double pitch,
                        double roll)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        double[] yawPitchRoll)

FrameOrientation

public FrameOrientation(ReferenceFrame referenceFrame,
                        javax.vecmath.Matrix3d rotation)
Method Detail

interpolate

public void interpolate(FrameOrientation orientationOne,
                        FrameOrientation orientationTwo,
                        double alpha)

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

getReferenceFrame

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

getTransform3DCopy

public javax.media.j3d.Transform3D getTransform3DCopy()

getTransform3D

public void getTransform3D(javax.media.j3d.Transform3D transformToPack)

set

public void set(ReferenceFrame referenceFrame,
                javax.media.j3d.Transform3D transform3D)

set

public void set(FrameOrientation orientation)

set

public void set(ReferenceFrame referenceFrame)

setToIdentity

public void setToIdentity()

setAndChangeFrame

public void setAndChangeFrame(FrameOrientation frameOrientation)

set

public void set(ReferenceFrame referenceFrame,
                javax.vecmath.Matrix3d matrix)

set

public void set(ReferenceFrame referenceFrame,
                javax.vecmath.Quat4d quat)

setIncludingFrame

public void setIncludingFrame(FrameOrientation orientation)

set

public void set(javax.vecmath.Matrix3d rotationMatrix)

set

public void set(javax.vecmath.Quat4f quat4f)

set

public void set(javax.vecmath.Quat4d quat4d)

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll)

setYawPitchRoll

public void setYawPitchRoll(double[] yawPitchRoll)

getYawPitchRoll

public void getYawPitchRoll(double[] yawPitchRoll)

getYawPitchRoll

public double[] getYawPitchRoll()

getYawPitchRoll

public static void getYawPitchRoll(javax.vecmath.Quat4f quat,
                                   double[] yawPitchRoll)

averageOrientations

public static FrameOrientation averageOrientations(java.util.ArrayList<FrameOrientation> orientations)

getQuaternion

public void getQuaternion(javax.vecmath.Quat4d quat4d)

getQuaternion

public javax.vecmath.Quat4d getQuaternion()

getMatrix3d

public javax.vecmath.Matrix3d getMatrix3d()

getMatrix3d

public void getMatrix3d(javax.vecmath.Matrix3d matrixToPack)

applyTransformCopy

public FrameOrientation applyTransformCopy(javax.media.j3d.Transform3D transform3D)

applyRotationCopy

public FrameOrientation applyRotationCopy(javax.vecmath.Matrix3d rotation)

toString

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

toStringAsYawPitchRoll

public java.lang.String toStringAsYawPitchRoll()

changeFrameCopy

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

changeFrame

public void changeFrame(ReferenceFrame desiredFrame)