us.ihmc.utilities.math.geometry
Class FramePose2d
java.lang.Object
us.ihmc.utilities.math.geometry.FramePose2d
- All Implemented Interfaces:
- ReferenceFrameHolder
public class FramePose2d
- extends java.lang.Object
- implements ReferenceFrameHolder
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
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)
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)