us.ihmc.utilities.math.geometry
Class FrameOrientation2d

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.FrameOrientation2d
All Implemented Interfaces:
ReferenceFrameHolder

public class FrameOrientation2d
extends java.lang.Object
implements ReferenceFrameHolder


Constructor Summary
FrameOrientation2d(FrameOrientation2d orientation)
           
FrameOrientation2d(ReferenceFrame referenceFrame)
           
FrameOrientation2d(ReferenceFrame referenceFrame, double yaw)
           
 
Method Summary
 void changeFrame(ReferenceFrame desiredFrame)
           
 FrameOrientation2d changeFrameCopy(ReferenceFrame desiredFrame)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
           
 boolean epsilonEquals(FrameOrientation2d orientation, double epsilon)
           
 ReferenceFrame getReferenceFrame()
           
 void getTransform3D(javax.media.j3d.Transform3D transformToPack)
           
 double getYaw()
           
 void handleNullFrame(ReferenceFrame referenceFrame)
           
 void interpolate(FrameOrientation2d orientationOne, FrameOrientation2d orientationTwo, double alpha)
           
 void set(FrameOrientation2d orientation)
           
 void set(ReferenceFrame referenceFrame)
           
 void setIncludingFrame(FrameOrientation2d orientation)
           
 void setYaw(double yaw)
           
 double sub(FrameOrientation2d orientationToSubtract)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FrameOrientation2d

public FrameOrientation2d(FrameOrientation2d orientation)

FrameOrientation2d

public FrameOrientation2d(ReferenceFrame referenceFrame)

FrameOrientation2d

public FrameOrientation2d(ReferenceFrame referenceFrame,
                          double yaw)
Method Detail

handleNullFrame

public void handleNullFrame(ReferenceFrame referenceFrame)

interpolate

public void interpolate(FrameOrientation2d orientationOne,
                        FrameOrientation2d 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

getTransform3D

public void getTransform3D(javax.media.j3d.Transform3D transformToPack)

getYaw

public double getYaw()

set

public void set(FrameOrientation2d orientation)

set

public void set(ReferenceFrame referenceFrame)

setIncludingFrame

public void setIncludingFrame(FrameOrientation2d orientation)

setYaw

public void setYaw(double yaw)

toString

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

changeFrameCopy

public FrameOrientation2d changeFrameCopy(ReferenceFrame desiredFrame)
Specified by:
changeFrameCopy in interface ReferenceFrameHolder

changeFrame

public void changeFrame(ReferenceFrame desiredFrame)

epsilonEquals

public boolean epsilonEquals(FrameOrientation2d orientation,
                             double epsilon)

sub

public double sub(FrameOrientation2d orientationToSubtract)