us.ihmc.utilities.math.geometry
Class FrameOrientation
java.lang.Object
us.ihmc.utilities.math.geometry.FrameOrientation
- All Implemented Interfaces:
- ReferenceFrameHolder
public class FrameOrientation
- extends java.lang.Object
- implements ReferenceFrameHolder
Constructor Summary |
FrameOrientation(FrameOrientation orientation)
|
FrameOrientation(ReferenceFrame referenceFrame)
|
FrameOrientation(ReferenceFrame referenceFrame,
double[] yawPitchRoll)
|
FrameOrientation(ReferenceFrame referenceFrame,
double yaw,
double pitch,
double roll)
|
FrameOrientation(ReferenceFrame referenceFrame,
double qx,
double qy,
double qz,
double qs)
|
FrameOrientation(ReferenceFrame referenceFrame,
javax.vecmath.Matrix3d rotation)
|
FrameOrientation(ReferenceFrame referenceFrame,
javax.vecmath.Quat4d quaternion)
|
FrameOrientation(ReferenceFrame referenceFrame,
javax.vecmath.Quat4f quaternion)
|
FrameOrientation(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D transform3D)
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Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
FrameOrientation
public FrameOrientation(FrameOrientation orientation)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D transform3D)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
javax.vecmath.Quat4d quaternion)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
javax.vecmath.Quat4f quaternion)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
double qx,
double qy,
double qz,
double qs)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
double yaw,
double pitch,
double roll)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
double[] yawPitchRoll)
FrameOrientation
public FrameOrientation(ReferenceFrame referenceFrame,
javax.vecmath.Matrix3d rotation)
interpolate
public void interpolate(FrameOrientation orientationOne,
FrameOrientation orientationTwo,
double alpha)
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
getReferenceFrame
public ReferenceFrame getReferenceFrame()
- Specified by:
getReferenceFrame
in interface ReferenceFrameHolder
getTransform3DCopy
public javax.media.j3d.Transform3D getTransform3DCopy()
getTransform3D
public void getTransform3D(javax.media.j3d.Transform3D transformToPack)
set
public void set(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D transform3D)
set
public void set(FrameOrientation orientation)
set
public void set(ReferenceFrame referenceFrame)
setToIdentity
public void setToIdentity()
setAndChangeFrame
public void setAndChangeFrame(FrameOrientation frameOrientation)
set
public void set(ReferenceFrame referenceFrame,
javax.vecmath.Matrix3d matrix)
set
public void set(ReferenceFrame referenceFrame,
javax.vecmath.Quat4d quat)
setIncludingFrame
public void setIncludingFrame(FrameOrientation orientation)
set
public void set(javax.vecmath.Matrix3d rotationMatrix)
set
public void set(javax.vecmath.Quat4f quat4f)
set
public void set(javax.vecmath.Quat4d quat4d)
setYawPitchRoll
public void setYawPitchRoll(double yaw,
double pitch,
double roll)
setYawPitchRoll
public void setYawPitchRoll(double[] yawPitchRoll)
getYawPitchRoll
public void getYawPitchRoll(double[] yawPitchRoll)
getYawPitchRoll
public double[] getYawPitchRoll()
getYawPitchRoll
public static void getYawPitchRoll(javax.vecmath.Quat4f quat,
double[] yawPitchRoll)
averageOrientations
public static FrameOrientation averageOrientations(java.util.ArrayList<FrameOrientation> orientations)
getQuaternion
public void getQuaternion(javax.vecmath.Quat4d quat4d)
getQuaternion
public javax.vecmath.Quat4d getQuaternion()
getMatrix3d
public javax.vecmath.Matrix3d getMatrix3d()
getMatrix3d
public void getMatrix3d(javax.vecmath.Matrix3d matrixToPack)
applyTransformCopy
public FrameOrientation applyTransformCopy(javax.media.j3d.Transform3D transform3D)
applyRotationCopy
public FrameOrientation applyRotationCopy(javax.vecmath.Matrix3d rotation)
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
toStringAsYawPitchRoll
public java.lang.String toStringAsYawPitchRoll()
changeFrameCopy
public FrameOrientation changeFrameCopy(ReferenceFrame desiredFrame)
- Specified by:
changeFrameCopy
in interface ReferenceFrameHolder
changeFrame
public void changeFrame(ReferenceFrame desiredFrame)