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java.lang.Objectus.ihmc.utilities.math.geometry.FramePoint2d
public class FramePoint2d
Title: FramePoint2d
Description: A FramePoint2d is a normal point associated with a specified reference frame
Copyright: Copyright (c) 2006
Company: IHMC
Constructor Summary | |
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FramePoint2d(FramePoint2d framePoint)
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FramePoint2d(FramePoint2d framePoint,
java.lang.String name)
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FramePoint2d(FrameVector2d frameVector)
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FramePoint2d(FrameVector2d frameVector,
java.lang.String name)
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FramePoint2d(ReferenceFrame referenceFrame)
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FramePoint2d(ReferenceFrame referenceFrame,
double[] position)
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FramePoint2d(ReferenceFrame referenceFrame,
double[] position,
java.lang.String name)
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FramePoint2d(ReferenceFrame referenceFrame,
double x,
double y)
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FramePoint2d(ReferenceFrame referenceFrame,
double x,
double y,
java.lang.String name)
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FramePoint2d(ReferenceFrame referenceFrame,
java.lang.String name)
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FramePoint2d(ReferenceFrame referenceFrame,
javax.vecmath.Tuple2d position)
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FramePoint2d(ReferenceFrame referenceFrame,
javax.vecmath.Tuple2d position,
java.lang.String name)
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Method Summary | |
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void |
add(FramePoint2d framePoint)
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void |
add(FramePoint2d point1,
FramePoint2d point2)
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void |
add(FramePoint2d point1,
FrameVector2d vector2)
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void |
add(FrameVector2d frameVector)
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void |
add(FrameVector2d vector1,
FramePoint2d point2)
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void |
applyTransform(javax.media.j3d.Transform3D transform)
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FramePoint2d |
applyTransformCopy(javax.media.j3d.Transform3D transform3D)
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void |
changeFrame(ReferenceFrame desiredFrame)
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FramePoint2d |
changeFrameAndProjectToXYPlaneCopy(ReferenceFrame desiredFrame)
Changes frame of this FramePoint2d to the given ReferenceFrame, projects into xy plane, and returns a copy. |
FramePoint2d |
changeFrameCopy(ReferenceFrame desiredFrame)
Changes frame of this FramePoint2d to the given ReferenceFrame and returns a copy. |
static FramePoint2d[] |
changeFrameCopyBatch(FramePoint2d[] framePoints,
ReferenceFrame desiredFrame)
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FramePoint2d |
changeFrameUsingTransformCopy(ReferenceFrame desiredFrame,
javax.media.j3d.Transform3D transformToNewFrame)
Changes frame of this FramePoint2d to the given ReferenceFrame, using the given Transform3D and returns a copy. |
void |
checkForNaN()
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void |
checkReferenceFrameMatch(ReferenceFrame frame)
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void |
checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
Makes sure that the FramePoint2d argument has the same Frame as the current FramePoint2d. |
boolean |
containsNaN()
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double |
distance(FramePoint2d framePoint)
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double |
distanceSquared(FramePoint2d framePoint)
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boolean |
epsilonEquals(FramePoint2d framePoint,
double threshold)
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boolean |
epsilonEquals(FrameVector2d frameVector,
double threshold)
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static FramePoint2d |
generateRandomFramePoint2d(java.util.Random random,
ReferenceFrame zUpFrame,
double xMin,
double xMax,
double yMin,
double yMax)
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java.lang.String |
getName()
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javax.vecmath.Point2d |
getPoint()
Returns the point in this FramePoint2d. |
void |
getPoint(javax.vecmath.Point2d point2dToPack)
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javax.vecmath.Point2d |
getPointCopy()
Returns a deep copy of the point in this FramePoint2d. |
ReferenceFrame |
getReferenceFrame()
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double |
getX()
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double |
getY()
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void |
interpolate(FramePoint2d framePoint1,
FramePoint2d framePoint2,
double alpha)
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static FramePoint2d |
load(java.io.BufferedReader bufferedReader,
ReferenceFrame referenceFrame)
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static FramePoint2d |
morph(FramePoint2d point1,
FramePoint2d point2,
double alpha)
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void |
save(java.io.PrintWriter printWriter)
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void |
scale(double scaleFactor)
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void |
scale(double scaleFactor,
FramePoint2d point1)
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void |
scale(double scaleFactor,
FrameVector2d vector1)
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void |
scaleAdd(double scaleFactor,
FramePoint2d point1)
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void |
scaleAdd(double scaleFactor,
FramePoint2d point1,
FramePoint2d point2)
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void |
scaleAdd(double scaleFactor,
FramePoint2d point1,
FrameVector2d vector2)
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void |
scaleAdd(double scaleFactor,
FrameVector2d vector1)
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void |
scaleAdd(double scaleFactor,
FrameVector2d vector1,
FramePoint2d point2)
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void |
scaleAdd(double scaleFactor,
FrameVector2d vector1,
FrameVector2d vector2)
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void |
set(double x,
double y)
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void |
set(FramePoint2d framePoint)
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void |
set(FrameVector2d frameVector)
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void |
set(ReferenceFrame referenceFrame,
double x,
double y)
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void |
setAndChangeFrame(FramePoint2d framePoint2d)
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void |
setName(java.lang.String name)
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void |
setX(double x)
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void |
setY(double y)
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void |
sub(FramePoint2d framePoint)
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void |
sub(FramePoint2d point1,
FramePoint2d point2)
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void |
sub(FramePoint2d point1,
FrameVector2d vector2)
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void |
sub(FrameVector2d frameVector)
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void |
sub(FrameVector2d vector1,
FramePoint2d point2)
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double[] |
toArray()
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static double[] |
toArray(FramePoint2d[] framePoints)
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FramePoint |
toFramePoint()
Creates a new FramePoint based on the x and y components of this FramePoint2d |
java.lang.String |
toString()
toString String representation of a FrameVector (x,y,z):reference frame name |
void |
weightedAverage(FramePoint2d point1,
FramePoint2d point2,
double weightedAverage)
Sets this point to be the weighted average of the two input points. |
FramePoint2d |
yawAboutPoint(FramePoint2d pointToYawAbout,
double yaw)
yawAboutPoint |
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 FramePoint2d(ReferenceFrame referenceFrame, double x, double y, java.lang.String name)
public FramePoint2d(FramePoint2d framePoint)
public FramePoint2d(FramePoint2d framePoint, java.lang.String name)
public FramePoint2d(FrameVector2d frameVector)
public FramePoint2d(FrameVector2d frameVector, java.lang.String name)
public FramePoint2d(ReferenceFrame referenceFrame)
public FramePoint2d(ReferenceFrame referenceFrame, double x, double y)
public FramePoint2d(ReferenceFrame referenceFrame, double[] position)
public FramePoint2d(ReferenceFrame referenceFrame, double[] position, java.lang.String name)
public FramePoint2d(ReferenceFrame referenceFrame, java.lang.String name)
public FramePoint2d(ReferenceFrame referenceFrame, javax.vecmath.Tuple2d position)
public FramePoint2d(ReferenceFrame referenceFrame, javax.vecmath.Tuple2d position, java.lang.String name)
Method Detail |
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public static FramePoint2d[] changeFrameCopyBatch(FramePoint2d[] framePoints, ReferenceFrame desiredFrame)
public static FramePoint2d generateRandomFramePoint2d(java.util.Random random, ReferenceFrame zUpFrame, double xMin, double xMax, double yMin, double yMax)
public static FramePoint2d load(java.io.BufferedReader bufferedReader, ReferenceFrame referenceFrame) throws java.io.IOException
java.io.IOException
public static FramePoint2d morph(FramePoint2d point1, FramePoint2d point2, double alpha)
public static double[] toArray(FramePoint2d[] framePoints)
public void add(FramePoint2d framePoint)
public void add(FramePoint2d point1, FramePoint2d point2)
public void add(FramePoint2d point1, FrameVector2d vector2)
public void add(FrameVector2d frameVector)
public void add(FrameVector2d vector1, FramePoint2d point2)
public void applyTransform(javax.media.j3d.Transform3D transform)
public FramePoint2d applyTransformCopy(javax.media.j3d.Transform3D transform3D)
public void changeFrame(ReferenceFrame desiredFrame)
public FramePoint2d changeFrameAndProjectToXYPlaneCopy(ReferenceFrame desiredFrame)
desiredFrame
- ReferenceFrame to change the FramePoint2d into.
public FramePoint2d changeFrameCopy(ReferenceFrame desiredFrame)
changeFrameCopy
in interface ReferenceFrameHolder
desiredFrame
- ReferenceFrame to change the FramePoint2d into.
public FramePoint2d changeFrameUsingTransformCopy(ReferenceFrame desiredFrame, javax.media.j3d.Transform3D transformToNewFrame)
desiredFrame
- ReferenceFrame to change the FramePoint2d into.transformToNewFrame
- Transform3D from the current frame to the new desiredFrame
public void checkForNaN()
public void checkReferenceFrameMatch(ReferenceFrame frame) throws ReferenceFrameMismatchException
checkReferenceFrameMatch
in interface ReferenceFrameHolder
ReferenceFrameMismatchException
public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
checkReferenceFrameMatch
in interface ReferenceFrameHolder
framePoint
- FramePoint2dpublic boolean containsNaN()
public double distance(FramePoint2d framePoint)
public double distanceSquared(FramePoint2d framePoint)
public boolean epsilonEquals(FramePoint2d framePoint, double threshold)
public boolean epsilonEquals(FrameVector2d frameVector, double threshold)
public java.lang.String getName()
public javax.vecmath.Point2d getPoint()
public void getPoint(javax.vecmath.Point2d point2dToPack)
public javax.vecmath.Point2d getPointCopy()
public ReferenceFrame getReferenceFrame()
getReferenceFrame
in interface ReferenceFrameHolder
public double getX()
public double getY()
public void interpolate(FramePoint2d framePoint1, FramePoint2d framePoint2, double alpha)
public void save(java.io.PrintWriter printWriter)
public void scale(double scaleFactor)
public void scale(double scaleFactor, FramePoint2d point1)
public void scale(double scaleFactor, FrameVector2d vector1)
public void scaleAdd(double scaleFactor, FramePoint2d point1)
public void scaleAdd(double scaleFactor, FramePoint2d point1, FramePoint2d point2)
public void scaleAdd(double scaleFactor, FramePoint2d point1, FrameVector2d vector2)
public void scaleAdd(double scaleFactor, FrameVector2d vector1)
public void scaleAdd(double scaleFactor, FrameVector2d vector1, FramePoint2d point2)
public void scaleAdd(double scaleFactor, FrameVector2d vector1, FrameVector2d vector2)
public void set(double x, double y)
public void set(FramePoint2d framePoint)
public void set(FrameVector2d frameVector)
public void set(ReferenceFrame referenceFrame, double x, double y)
public void setAndChangeFrame(FramePoint2d framePoint2d)
public void setName(java.lang.String name)
public void setX(double x)
public void setY(double y)
public void sub(FramePoint2d framePoint)
public void sub(FramePoint2d point1, FramePoint2d point2)
public void sub(FramePoint2d point1, FrameVector2d vector2)
public void sub(FrameVector2d frameVector)
public void sub(FrameVector2d vector1, FramePoint2d point2)
public double[] toArray()
public FramePoint toFramePoint()
public java.lang.String toString()
toString
in class java.lang.Object
public void weightedAverage(FramePoint2d point1, FramePoint2d point2, double weightedAverage)
point1
- FramePoint2dpoint2
- FramePoint2dweightedAverage
- double
ReferenceFrameMismatchException
public FramePoint2d yawAboutPoint(FramePoint2d pointToYawAbout, double yaw)
pointToYawAbout
- FramePoint2dyaw
- double
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