us.ihmc.utilities.math.geometry
Class FramePose
java.lang.Object
us.ihmc.utilities.math.geometry.FramePose
- All Implemented Interfaces:
- ReferenceFrameHolder
public class FramePose
- extends java.lang.Object
- implements ReferenceFrameHolder
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
FramePose
public FramePose(ReferenceFrame referenceFrame)
FramePose
public FramePose(FramePoint position,
FrameOrientation orientation)
FramePose
public FramePose(ReferenceFrame referenceFrame,
javax.vecmath.Point3d position,
javax.vecmath.Quat4d orientation)
FramePose
public FramePose(FramePose framePose)
FramePose
public FramePose(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D transform)
getReferenceFrame
public ReferenceFrame getReferenceFrame()
- Specified by:
getReferenceFrame
in interface ReferenceFrameHolder
getTransformFromPoseToFrame
public void getTransformFromPoseToFrame(javax.media.j3d.Transform3D transformToPack)
set
public void set(FramePose pose)
setIncludingFrame
public void setIncludingFrame(FramePose pose)
setOrientation
public void setOrientation(FrameOrientation orientation)
setPosition
public void setPosition(FramePoint position)
set
public void set(ReferenceFrame referenceFrame,
javax.vecmath.Point3d point,
javax.vecmath.Quat4d orientation)
set
public void set(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D transform)
getYaw
public double getYaw()
getPitch
public double getPitch()
getRoll
public double getRoll()
getX
public double getX()
getY
public double getY()
getZ
public double getZ()
getOrientationMatrix3d
public javax.vecmath.Matrix3d getOrientationMatrix3d()
getOrientationMatrix3d
public void getOrientationMatrix3d(javax.vecmath.Matrix3d matrixToPack)
getPosition
public void getPosition(FramePoint framePointToPack)
getPostionCopy
public FramePoint getPostionCopy()
getOrientation
public void getOrientation(FrameOrientation orientationToPack)
getOrientationCopy
public FrameOrientation getOrientationCopy()
changeFrameCopy
public FramePose changeFrameCopy(ReferenceFrame desiredFrame)
- Specified by:
changeFrameCopy
in interface ReferenceFrameHolder
changeFrame
public void changeFrame(ReferenceFrame desiredFrame)
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
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
getPosition2dCopy
public FramePoint2d getPosition2dCopy()
setPositionChangeOnlyXY
public void setPositionChangeOnlyXY(FramePoint2d position2d)
getPositionInFrame
public FramePoint getPositionInFrame(ReferenceFrame referenceFrame)
getOrientationInFrame
public FrameOrientation getOrientationInFrame(ReferenceFrame referenceFrame)
epsilonEquals
public boolean epsilonEquals(FramePose framePose,
double epsilon)
getPositionCopy
public FramePoint getPositionCopy()
flattenTo2D
public FramePose2d flattenTo2D()
getOrientation2dCopy
public FrameOrientation2d getOrientation2dCopy()
set
public void set(ReferenceFrame referenceFrame)