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java.lang.Objectus.ihmc.utilities.math.geometry.FrameEllipsoid3d
public class FrameEllipsoid3d
Constructor Summary | |
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FrameEllipsoid3d(FrameEllipsoid3d other)
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FrameEllipsoid3d(ReferenceFrame referenceFrame,
double xRadius,
double yRadius,
double zRadius)
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FrameEllipsoid3d(ReferenceFrame referenceFrame,
double xRadius,
double yRadius,
double zRadius,
javax.media.j3d.Transform3D transform)
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FrameEllipsoid3d(ReferenceFrame referenceFrame,
Ellipsoid3d ellipsoid)
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Method Summary | |
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void |
applyTransform(javax.media.j3d.Transform3D transform)
Apply the given transform to translate and rotate this shape. |
FrameShape3d |
applyTransformCopy(javax.media.j3d.Transform3D transform)
Create a copy of this shape, then apply the given transform to translate and rotate the copy. |
void |
changeFrame(ReferenceFrame desiredFrame)
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ReferenceFrameHolder |
changeFrameCopy(ReferenceFrame desiredFrame)
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void |
checkReferenceFrameMatch(ReferenceFrame frame)
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void |
checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
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double |
distance(FramePoint point)
Find the distance from the closest point on this shape to the given point. |
void |
getClosestPointAndNormalAt(FramePoint closestPointToPack,
FrameVector normalToPack,
FramePoint pointInWorldToCheck)
Find the closest point on the surface of this shape to the given point as well as the surface normal at that point. |
Ellipsoid3d |
getEllipsoid3d()
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ReferenceFrame |
getReferenceFrame()
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boolean |
isInsideOrOnSurface(FramePoint pointToCheck)
Determine whether the given point is on or inside the surface of this shape. |
boolean |
isInsideOrOnSurface(FramePoint pointToCheck,
double epsilon)
Determine whether the given point is on or inside the surface of this shape, within a given tolerance or error level. |
void |
orthogonalProjection(FramePoint pointToCheckAndPack)
Find the closest point on the surface of this shape to the given point. |
FramePoint |
orthogonalProjectionCopy(FramePoint pointToCheck)
Find the closest point on the surface of this shape to the given point. |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public FrameEllipsoid3d(FrameEllipsoid3d other)
public FrameEllipsoid3d(ReferenceFrame referenceFrame, Ellipsoid3d ellipsoid)
public FrameEllipsoid3d(ReferenceFrame referenceFrame, double xRadius, double yRadius, double zRadius, javax.media.j3d.Transform3D transform)
public FrameEllipsoid3d(ReferenceFrame referenceFrame, double xRadius, double yRadius, double zRadius)
Method Detail |
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public Ellipsoid3d getEllipsoid3d()
public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder) throws ReferenceFrameMismatchException
checkReferenceFrameMatch
in interface ReferenceFrameHolder
ReferenceFrameMismatchException
public void checkReferenceFrameMatch(ReferenceFrame frame) throws ReferenceFrameMismatchException
checkReferenceFrameMatch
in interface ReferenceFrameHolder
ReferenceFrameMismatchException
public ReferenceFrame getReferenceFrame()
getReferenceFrame
in interface ReferenceFrameHolder
public void changeFrame(ReferenceFrame desiredFrame)
public void applyTransform(javax.media.j3d.Transform3D transform)
FrameShape3d
applyTransform
in interface FrameShape3d
public FrameShape3d applyTransformCopy(javax.media.j3d.Transform3D transform)
FrameShape3d
applyTransformCopy
in interface FrameShape3d
public double distance(FramePoint point)
FrameShape3d
distance
in interface FrameShape3d
public void getClosestPointAndNormalAt(FramePoint closestPointToPack, FrameVector normalToPack, FramePoint pointInWorldToCheck)
FrameShape3d
getClosestPointAndNormalAt
in interface FrameShape3d
closestPointToPack
- out parameter packed with the resulting closest point on the shapenormalToPack
- out parameter packed with the resulting normal vectorpublic boolean isInsideOrOnSurface(FramePoint pointToCheck)
FrameShape3d
isInsideOrOnSurface
in interface FrameShape3d
public boolean isInsideOrOnSurface(FramePoint pointToCheck, double epsilon)
FrameShape3d
isInsideOrOnSurface
in interface FrameShape3d
public void orthogonalProjection(FramePoint pointToCheckAndPack)
FrameShape3d
orthogonalProjection
in interface FrameShape3d
pointToCheckAndPack
- both an input parameter (the point to check),
and an output parameter (packed with the resulting ortho point).public FramePoint orthogonalProjectionCopy(FramePoint pointToCheck)
FrameShape3d
orthogonalProjectionCopy
in interface FrameShape3d
public ReferenceFrameHolder changeFrameCopy(ReferenceFrame desiredFrame)
changeFrameCopy
in interface ReferenceFrameHolder
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