us.ihmc.utilities.math.geometry
Class FramePose2d

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.FramePose2d
All Implemented Interfaces:
ReferenceFrameHolder

public class FramePose2d
extends java.lang.Object
implements ReferenceFrameHolder


Constructor Summary
FramePose2d(FramePoint2d position, FrameOrientation2d orientation)
           
FramePose2d(FramePose2d framePose)
           
FramePose2d(ReferenceFrame referenceFrame)
           
FramePose2d(ReferenceFrame referenceFrame, javax.vecmath.Point2d position, double orientation)
           
 
Method Summary
 void changeFrame(ReferenceFrame desiredFrame)
           
 FramePose2d changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 boolean epsilonEquals(FramePose2d framePose, double epsilon)
           
 FrameOrientation2d getOrientation()
           
 void getOrientation(FrameOrientation2d orientationToPack)
           
 FrameOrientation2d getOrientationInFrame(ReferenceFrame referenceFrame)
           
 FramePoint2d getPosition()
           
 void getPosition(FramePoint2d framePointToPack)
           
 FramePoint2d getPositionInFrame(ReferenceFrame referenceFrame)
           
 ReferenceFrame getReferenceFrame()
           
 void getTransformFromPoseToFrame(javax.media.j3d.Transform3D transformToPack)
           
 double getX()
           
 double getY()
           
 double getYaw()
           
 void set(FramePose2d pose)
           
 void setOrientation(FrameOrientation2d orientation)
           
 void setPosition(FramePoint2d position)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FramePose2d

public FramePose2d(ReferenceFrame referenceFrame)

FramePose2d

public FramePose2d(FramePoint2d position,
                   FrameOrientation2d orientation)

FramePose2d

public FramePose2d(ReferenceFrame referenceFrame,
                   javax.vecmath.Point2d position,
                   double orientation)

FramePose2d

public FramePose2d(FramePose2d framePose)
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(FramePose2d pose)

setOrientation

public void setOrientation(FrameOrientation2d orientation)

setPosition

public void setPosition(FramePoint2d position)

getYaw

public double getYaw()

getX

public double getX()

getY

public double getY()

getPosition

public void getPosition(FramePoint2d framePointToPack)

getPosition

public FramePoint2d getPosition()

getOrientation

public void getOrientation(FrameOrientation2d orientationToPack)

getOrientation

public FrameOrientation2d getOrientation()

changeFrameCopy

public FramePose2d 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

getPositionInFrame

public FramePoint2d getPositionInFrame(ReferenceFrame referenceFrame)

getOrientationInFrame

public FrameOrientation2d getOrientationInFrame(ReferenceFrame referenceFrame)

epsilonEquals

public boolean epsilonEquals(FramePose2d framePose,
                             double epsilon)