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java.lang.Objectus.ihmc.utilities.math.geometry.FrameRamp3d
public class FrameRamp3d
Constructor Summary | |
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FrameRamp3d(FrameRamp3d other)
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FrameRamp3d(ReferenceFrame referenceFrame,
double width,
double length,
double height)
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FrameRamp3d(ReferenceFrame referenceFrame,
Ramp3d ramp3d)
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FrameRamp3d(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D configuration,
double width,
double length,
double height)
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Method Summary | |
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void |
applyTransform(javax.media.j3d.Transform3D transformation)
Apply the given transform to translate and rotate this shape. |
FrameRamp3d |
applyTransformCopy(javax.media.j3d.Transform3D transform3D)
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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FrameRamp3d |
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 intersectionToPack,
FrameVector normalToPack,
FramePoint pointToCheck)
Find the closest point on the surface of this shape to the given point as well as the surface normal at that point. |
Ramp3d |
getRamp3d()
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ReferenceFrame |
getReferenceFrame()
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javax.media.j3d.Transform3D |
getTransform()
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void |
getTransformCopy(javax.media.j3d.Transform3D transformToPack)
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boolean |
isInsideOrOnSurface(FramePoint pointToTest)
Determine whether the given point is on or inside the surface of this shape. |
boolean |
isInsideOrOnSurface(FramePoint pointToTest,
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 point)
Find the closest point on the surface of this shape to the given point. |
FramePoint |
orthogonalProjectionCopy(FramePoint point)
Find the closest point on the surface of this shape to the given point. |
void |
packFramePose(FramePose framePoseToPack)
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void |
setAndChangeFrame(FrameRamp3d other)
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void |
setTransform(javax.media.j3d.Transform3D transform3D)
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java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public FrameRamp3d(FrameRamp3d other)
public FrameRamp3d(ReferenceFrame referenceFrame, Ramp3d ramp3d)
public FrameRamp3d(ReferenceFrame referenceFrame, double width, double length, double height)
public FrameRamp3d(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D configuration, double width, double length, double height)
Method Detail |
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public Ramp3d getRamp3d()
public void getTransformCopy(javax.media.j3d.Transform3D transformToPack)
public javax.media.j3d.Transform3D getTransform()
public void setTransform(javax.media.j3d.Transform3D transform3D)
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 FrameRamp3d changeFrameCopy(ReferenceFrame desiredFrame)
changeFrameCopy
in interface ReferenceFrameHolder
public void changeFrame(ReferenceFrame desiredFrame)
public void applyTransform(javax.media.j3d.Transform3D transformation)
FrameShape3d
applyTransform
in interface FrameShape3d
public FrameRamp3d applyTransformCopy(javax.media.j3d.Transform3D transform3D)
FrameShape3d
applyTransformCopy
in interface FrameShape3d
public double distance(FramePoint point)
FrameShape3d
distance
in interface FrameShape3d
public void getClosestPointAndNormalAt(FramePoint intersectionToPack, FrameVector normalToPack, FramePoint pointToCheck)
FrameShape3d
getClosestPointAndNormalAt
in interface FrameShape3d
intersectionToPack
- out parameter packed with the resulting closest point on the shapenormalToPack
- out parameter packed with the resulting normal vectorpublic boolean isInsideOrOnSurface(FramePoint pointToTest, double epsilon)
FrameShape3d
isInsideOrOnSurface
in interface FrameShape3d
public void orthogonalProjection(FramePoint point)
FrameShape3d
orthogonalProjection
in interface FrameShape3d
point
- both an input parameter (the point to check),
and an output parameter (packed with the resulting ortho point).public void setAndChangeFrame(FrameRamp3d other)
public FramePoint orthogonalProjectionCopy(FramePoint point)
FrameShape3d
orthogonalProjectionCopy
in interface FrameShape3d
public void packFramePose(FramePose framePoseToPack)
public java.lang.String toString()
toString
in class java.lang.Object
public boolean isInsideOrOnSurface(FramePoint pointToTest)
FrameShape3d
isInsideOrOnSurface
in interface FrameShape3d
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