com.yobotics.simulationconstructionset.util.math.frames
Class YoFrameLine2d

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.math.frames.YoFrameLine2d

public class YoFrameLine2d
extends java.lang.Object


Constructor Summary
YoFrameLine2d(DoubleYoVariable x0Variable, DoubleYoVariable y0Variable, DoubleYoVariable vxVariable, DoubleYoVariable vyVariable, ReferenceFrame frame)
           
YoFrameLine2d(java.lang.String namePrefix, java.lang.String nameSuffix, ReferenceFrame frame, YoVariableRegistry registry)
           
 
Method Summary
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 double distance(FrameConvexPolygon2d convexPolygon)
           
 double distance(FrameLine2d line)
           
 double distance(FrameLineSegment2d secondLineSegment)
           
 double distance(FramePoint2d point)
           
 FrameLine2d getFrameLine2d()
           
 ReferenceFrame getReferenceFrame()
           
 double getVx()
           
 double getVy()
           
 double getX0()
           
 double getY0()
           
 FramePoint2d[] intersectionWith(FrameConvexPolygon2d convexPolygon)
           
 FramePoint2d intersectionWith(FrameLine2d line)
           
 FramePoint2d intersectionWith(FrameLineSegment2d secondLineSegment)
           
 void orthogonalProjection(FramePoint2d point)
          applyTransformCopy Use of this method is discouraged.
 FramePoint2d orthogonalProjectionCopy(FramePoint2d point)
           
 void setFrameLine2d(FrameLine2d frameLine2d)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

YoFrameLine2d

public YoFrameLine2d(java.lang.String namePrefix,
                     java.lang.String nameSuffix,
                     ReferenceFrame frame,
                     YoVariableRegistry registry)

YoFrameLine2d

public YoFrameLine2d(DoubleYoVariable x0Variable,
                     DoubleYoVariable y0Variable,
                     DoubleYoVariable vxVariable,
                     DoubleYoVariable vyVariable,
                     ReferenceFrame frame)
Method Detail

getX0

public double getX0()

getY0

public double getY0()

getVx

public double getVx()

getVy

public double getVy()

toString

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

setFrameLine2d

public void setFrameLine2d(FrameLine2d frameLine2d)

getFrameLine2d

public FrameLine2d getFrameLine2d()

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)

getReferenceFrame

public ReferenceFrame getReferenceFrame()

orthogonalProjection

public void orthogonalProjection(FramePoint2d point)
applyTransformCopy Use of this method is discouraged. Only use it to speed up computation FrameLine2ds en masse, and only when the desired reference frame is not a parent or child of the current reference frame.

Parameters:
transform - Transform3D
newFrame - ReferenceFrame
requirePlanarTransform - boolean

orthogonalProjectionCopy

public FramePoint2d orthogonalProjectionCopy(FramePoint2d point)

intersectionWith

public FramePoint2d intersectionWith(FrameLine2d line)

intersectionWith

public FramePoint2d intersectionWith(FrameLineSegment2d secondLineSegment)

intersectionWith

public FramePoint2d[] intersectionWith(FrameConvexPolygon2d convexPolygon)

distance

public double distance(FramePoint2d point)

distance

public double distance(FrameLine2d line)

distance

public double distance(FrameLineSegment2d secondLineSegment)

distance

public double distance(FrameConvexPolygon2d convexPolygon)