us.ihmc.utilities.math.geometry
Class FramePlane3d

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.FramePlane3d
All Implemented Interfaces:
ReferenceFrameHolder

public class FramePlane3d
extends java.lang.Object
implements ReferenceFrameHolder


Constructor Summary
FramePlane3d(FramePlane3d framePlane3d)
           
FramePlane3d(FrameVector normal, FramePoint point)
           
FramePlane3d(ReferenceFrame referenceFrame)
           
FramePlane3d(ReferenceFrame referenceFrame, Plane3d plane3d)
           
FramePlane3d(ReferenceFrame referenceFrame, javax.vecmath.Point3d point, javax.vecmath.Vector3d normal)
           
 
Method Summary
 void applyTransform(javax.media.j3d.Transform3D transformation)
           
 FramePlane3d applyTransformCopy(javax.media.j3d.Transform3D transformation)
           
 void changeFrame(ReferenceFrame desiredFrame)
           
 FramePlane3d changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 double distance(FramePoint point)
           
 boolean epsilonEquals(FramePlane3d plane, double epsilon)
           
 void getNormal(FrameVector normalToPack)
           
 FrameVector getNormalCopy()
           
 void getPoint(FramePoint pointToPack)
           
 FramePoint getPointCopy()
           
 ReferenceFrame getReferenceFrame()
           
 boolean isOnOrAbove(FramePoint pointToTest)
           
 boolean isOnOrBelow(FramePoint pointToTest)
           
 void orthogonalProjection(FramePoint point)
           
 FramePoint orthogonalProjectionCopy(FramePoint point)
           
 void setNormal(double x, double y, double z)
           
 void setNormal(javax.vecmath.Vector3d normal)
           
 void setPoint(double x, double y, double z)
           
 void setPoint(javax.vecmath.Point3d point)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FramePlane3d

public FramePlane3d(ReferenceFrame referenceFrame,
                    Plane3d plane3d)

FramePlane3d

public FramePlane3d(ReferenceFrame referenceFrame)

FramePlane3d

public FramePlane3d(FramePlane3d framePlane3d)

FramePlane3d

public FramePlane3d(FrameVector normal,
                    FramePoint point)

FramePlane3d

public FramePlane3d(ReferenceFrame referenceFrame,
                    javax.vecmath.Point3d point,
                    javax.vecmath.Vector3d normal)
Method Detail

getReferenceFrame

public ReferenceFrame getReferenceFrame()
Specified by:
getReferenceFrame in interface ReferenceFrameHolder

getNormal

public void getNormal(FrameVector normalToPack)

getNormalCopy

public FrameVector getNormalCopy()

setNormal

public void setNormal(double x,
                      double y,
                      double z)

setNormal

public void setNormal(javax.vecmath.Vector3d normal)

getPoint

public void getPoint(FramePoint pointToPack)

getPointCopy

public FramePoint getPointCopy()

setPoint

public void setPoint(double x,
                     double y,
                     double z)

setPoint

public void setPoint(javax.vecmath.Point3d point)

changeFrameCopy

public FramePlane3d changeFrameCopy(ReferenceFrame desiredFrame)
Specified by:
changeFrameCopy in interface ReferenceFrameHolder

changeFrame

public void changeFrame(ReferenceFrame desiredFrame)

isOnOrAbove

public boolean isOnOrAbove(FramePoint pointToTest)

isOnOrBelow

public boolean isOnOrBelow(FramePoint pointToTest)

orthogonalProjectionCopy

public FramePoint orthogonalProjectionCopy(FramePoint point)

orthogonalProjection

public void orthogonalProjection(FramePoint point)

distance

public double distance(FramePoint point)

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
                              throws ReferenceFrameMismatchException
Specified by:
checkReferenceFrameMatch in interface ReferenceFrameHolder
Throws:
ReferenceFrameMismatchException

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)
                              throws ReferenceFrameMismatchException
Specified by:
checkReferenceFrameMatch in interface ReferenceFrameHolder
Throws:
ReferenceFrameMismatchException

epsilonEquals

public boolean epsilonEquals(FramePlane3d plane,
                             double epsilon)

applyTransformCopy

public FramePlane3d applyTransformCopy(javax.media.j3d.Transform3D transformation)

applyTransform

public void applyTransform(javax.media.j3d.Transform3D transformation)

toString

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