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java.lang.Objectus.ihmc.utilities.math.geometry.ReferenceFrame
public abstract class ReferenceFrame
ReferemceFrame
Description: ReferenceFrame is used to represent a reference coordinate frame. One constructor allows the creation of a "root" frame with no parent. The other creates a child frame that has a reference and transform to a parent. ReferenceFrames are used in classes like FramePoint to indicate which frame the point is defined in.
Constructor Summary | |
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ReferenceFrame(java.lang.String frameName,
boolean isBodyCenteredFrame,
boolean isWorldFrame,
boolean isZupFrame)
This constructor creates a "top level" reference frame with the specified name. |
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ReferenceFrame(java.lang.String frameName,
ReferenceFrame parentFrame)
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ReferenceFrame(java.lang.String frameName,
ReferenceFrame parentFrame,
boolean isBodyCenteredFrame,
boolean isWorldFrame,
boolean isZupFrame)
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ReferenceFrame(java.lang.String frameName,
ReferenceFrame parentFrame,
javax.media.j3d.Transform3D transformToParent,
boolean isBodyCenteredFrame,
boolean isWorldFrame,
boolean isZupFrame)
This constructor creates a child reference frame with the specified name. |
Method Summary | |
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void |
checkIsWorldFrame()
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void |
checkReferenceFrameMatch(ReferenceFrame referenceFrame)
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static ReferenceFrame |
constructARootFrame(java.lang.String frameName)
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static ReferenceFrame |
constructARootFrame(java.lang.String frameName,
boolean isBodyCenteredFrame,
boolean isWorldFrame,
boolean isZupFrame)
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static ReferenceFrame |
constructAWorldFrame(java.lang.String frameName)
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static ReferenceFrame |
constructBodyFrameWithUnchangingTransformToParent(java.lang.String frameName,
ReferenceFrame parentFrame,
javax.media.j3d.Transform3D transformToParent)
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static ReferenceFrame |
constructBodyFrameWithUnchangingTranslationFromParent(java.lang.String frameName,
ReferenceFrame parentFrame,
javax.vecmath.Vector3d translationFromParent)
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static ReferenceFrame |
constructBodyZUpFrameWithUnchangingTransformToParent(java.lang.String frameName,
ReferenceFrame parentFrame,
javax.media.j3d.Transform3D transformToParent)
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static ReferenceFrame |
constructFrameWithUnchangingTransformToParent(java.lang.String frameName,
ReferenceFrame parentFrame,
javax.media.j3d.Transform3D transformToParent)
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static ReferenceFrame |
constructFrameWithUnchangingTransformToParent(java.lang.String frameName,
ReferenceFrame parentFrame,
javax.media.j3d.Transform3D transformToParent,
boolean isBodyCenteredFrame,
boolean isWorldFrame,
boolean isZupFrame)
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static ReferenceFrame |
constructReferenceFrameFromPointAndZAxis(java.lang.String frameName,
FramePoint point,
FrameVector zAxis)
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java.lang.String |
getName()
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ReferenceFrame |
getParent()
getParent Returns the parent frame of this reference frame |
ReferenceFrame |
getRootFrame()
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javax.media.j3d.Transform3D |
getTransformToDesiredFrame(ReferenceFrame desiredFrame)
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void |
getTransformToDesiredFrame(javax.media.j3d.Transform3D transformToPack,
ReferenceFrame desiredFrame)
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javax.media.j3d.Transform3D |
getTransformToParent()
getTransformToParent Returns a Transform3D that can be applied to a vector defined in this frame in order to obtain the equivalent vector in the parent frame |
static ReferenceFrame |
getWorldFrame()
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boolean |
isBodyCenteredFrame()
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boolean |
isChildFrame(ReferenceFrame frame)
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boolean |
isParentFrame(ReferenceFrame frame)
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static boolean |
isTransformationInPlane(javax.media.j3d.Transform3D transform)
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boolean |
isWorldFrame()
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boolean |
isZupFrame()
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java.lang.String |
toString()
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void |
update()
The user must call update each tick. |
abstract void |
updateTransformToParent(javax.media.j3d.Transform3D transformToParent)
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public ReferenceFrame(java.lang.String frameName, ReferenceFrame parentFrame)
public ReferenceFrame(java.lang.String frameName, boolean isBodyCenteredFrame, boolean isWorldFrame, boolean isZupFrame)
frameName
- Stringpublic ReferenceFrame(java.lang.String frameName, ReferenceFrame parentFrame, javax.media.j3d.Transform3D transformToParent, boolean isBodyCenteredFrame, boolean isWorldFrame, boolean isZupFrame)
frameName
- StringparentFrame
- FrametransformToParent
- Transform3Dpublic ReferenceFrame(java.lang.String frameName, ReferenceFrame parentFrame, boolean isBodyCenteredFrame, boolean isWorldFrame, boolean isZupFrame)
Method Detail |
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public static ReferenceFrame constructAWorldFrame(java.lang.String frameName)
public static ReferenceFrame constructARootFrame(java.lang.String frameName)
public static ReferenceFrame constructARootFrame(java.lang.String frameName, boolean isBodyCenteredFrame, boolean isWorldFrame, boolean isZupFrame)
public static ReferenceFrame constructReferenceFrameFromPointAndZAxis(java.lang.String frameName, FramePoint point, FrameVector zAxis)
public static ReferenceFrame constructBodyZUpFrameWithUnchangingTransformToParent(java.lang.String frameName, ReferenceFrame parentFrame, javax.media.j3d.Transform3D transformToParent)
public static ReferenceFrame constructBodyFrameWithUnchangingTranslationFromParent(java.lang.String frameName, ReferenceFrame parentFrame, javax.vecmath.Vector3d translationFromParent)
public static ReferenceFrame constructBodyFrameWithUnchangingTransformToParent(java.lang.String frameName, ReferenceFrame parentFrame, javax.media.j3d.Transform3D transformToParent)
public static ReferenceFrame constructFrameWithUnchangingTransformToParent(java.lang.String frameName, ReferenceFrame parentFrame, javax.media.j3d.Transform3D transformToParent)
public static ReferenceFrame constructFrameWithUnchangingTransformToParent(java.lang.String frameName, ReferenceFrame parentFrame, javax.media.j3d.Transform3D transformToParent, boolean isBodyCenteredFrame, boolean isWorldFrame, boolean isZupFrame)
public static ReferenceFrame getWorldFrame()
public boolean isBodyCenteredFrame()
public boolean isWorldFrame()
public boolean isZupFrame()
public void update()
public abstract void updateTransformToParent(javax.media.j3d.Transform3D transformToParent)
public ReferenceFrame getParent()
public ReferenceFrame getRootFrame()
public javax.media.j3d.Transform3D getTransformToParent()
public java.lang.String getName()
public javax.media.j3d.Transform3D getTransformToDesiredFrame(ReferenceFrame desiredFrame)
public void getTransformToDesiredFrame(javax.media.j3d.Transform3D transformToPack, ReferenceFrame desiredFrame)
public boolean isParentFrame(ReferenceFrame frame)
public boolean isChildFrame(ReferenceFrame frame)
public java.lang.String toString()
toString
in class java.lang.Object
public void checkReferenceFrameMatch(ReferenceFrame referenceFrame) throws ReferenceFrameMismatchException
ReferenceFrameMismatchException
public void checkIsWorldFrame() throws java.lang.RuntimeException
java.lang.RuntimeException
public static boolean isTransformationInPlane(javax.media.j3d.Transform3D transform)
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