com.yobotics.simulationconstructionset.util.math.frames
Class YoFrameLineSegment2d

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.math.frames.YoFrameLineSegment2d

public class YoFrameLineSegment2d
extends java.lang.Object


Constructor Summary
YoFrameLineSegment2d(DoubleYoVariable x0Variable, DoubleYoVariable y0Variable, DoubleYoVariable x1Variable, DoubleYoVariable y1Variable, ReferenceFrame frame)
           
YoFrameLineSegment2d(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)
           
 FrameLineSegment2d getFrameLineSegment2d()
           
 ReferenceFrame getReferenceFrame()
           
 double getX0()
           
 double getX1()
           
 double getY0()
           
 double getY1()
           
 FramePoint2d[] intersectionWith(FrameConvexPolygon2d convexPolygon)
           
 FramePoint2d intersectionWith(FrameLine2d line)
           
 FramePoint2d intersectionWith(FrameLineSegment2d secondLineSegment)
           
 boolean isBetweenEndpoints(FramePoint2d point, double epsilon)
           
 double length()
           
 FramePoint2d midpoint()
           
 void orthogonalProjection(FramePoint2d point)
          applyTransformCopy Use of this method is discouraged.
 FramePoint2d orthogonalProjectionCopy(FramePoint2d point)
           
 FramePoint2d pointBetweenEndPointsGivenParameter(double parameter)
           
 void setFrameLineSegment2d(FrameLineSegment2d lineSegment)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

YoFrameLineSegment2d

public YoFrameLineSegment2d(java.lang.String namePrefix,
                            java.lang.String nameSuffix,
                            ReferenceFrame frame,
                            YoVariableRegistry registry)

YoFrameLineSegment2d

public YoFrameLineSegment2d(DoubleYoVariable x0Variable,
                            DoubleYoVariable y0Variable,
                            DoubleYoVariable x1Variable,
                            DoubleYoVariable y1Variable,
                            ReferenceFrame frame)
Method Detail

toString

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

getX0

public double getX0()

getX1

public double getX1()

getY0

public double getY0()

getY1

public double getY1()

setFrameLineSegment2d

public void setFrameLineSegment2d(FrameLineSegment2d lineSegment)

getFrameLineSegment2d

public FrameLineSegment2d getFrameLineSegment2d()

midpoint

public FramePoint2d midpoint()

length

public double length()

isBetweenEndpoints

public boolean isBetweenEndpoints(FramePoint2d point,
                                  double epsilon)

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)

pointBetweenEndPointsGivenParameter

public FramePoint2d pointBetweenEndPointsGivenParameter(double parameter)