us.ihmc.utilities.math.geometry
Class FramePoint2d

java.lang.Object
  us.ihmc.utilities.math.geometry.FramePoint2d

All Implemented Interfaces:

java.io.Serializable, ReferenceFrameHolder

public class FramePoint2d
extends java.lang.Object
implements ReferenceFrameHolder, java.io.Serializable

Title: FramePoint2d

Description: A FramePoint2d is a normal point associated with a specified reference frame

Copyright: Copyright (c) 2006

Company: IHMC

Version:

2.0

Author:

Learning Locomotion Team

See Also:

Serialized Form

Constructor Summary

FramePoint2d(FramePoint2d framePoint)
FramePoint2d A normal point associated with a specific reference frame

FramePoint2d(FramePoint2d framePoint, java.lang.String name)

FramePoint2d(FrameVector2d frameVector)
FramePoint2d Converts frameVector to framePoint

FramePoint2d(FrameVector2d frameVector, java.lang.String name)

FramePoint2d(ReferenceFrame referenceFrame)
FramePoint2d A normal point associated with a specific reference frame

FramePoint2d(ReferenceFrame referenceFrame, double[] position)

FramePoint2d(ReferenceFrame referenceFrame, double[] position, java.lang.String name)

FramePoint2d(ReferenceFrame referenceFrame, double x, double y)
FramePoint2d A normal point associated with a specific reference frame.

FramePoint2d(ReferenceFrame referenceFrame, double x, double y, java.lang.String name)

FramePoint2d(ReferenceFrame referenceFrame, java.lang.String name)

FramePoint2d(ReferenceFrame referenceFrame, javax.vecmath.Tuple2d position)
FramePoint2d A normal point associated with a specific reference frame

FramePoint2d(ReferenceFrame referenceFrame, javax.vecmath.Tuple2d position, java.lang.String name)

Method Summary

void	add(FramePoint2d framePoint)
void	add(FramePoint2d point1, FramePoint2d point2)
void	add(FramePoint2d point1, FrameVector2d vector2)
void	add(FrameVector2d frameVector)
void	add(FrameVector2d vector1, FramePoint2d point2)
void	applyTransform(javax.media.j3d.Transform3D transform)
FramePoint2d	applyTransformCopy(javax.media.j3d.Transform3D transform3D)
FramePoint2d	changeFrameCopy(ReferenceFrame desiredFrame) Changes frame of this FramePoint2d to the given ReferenceFrame and returns a copy.
static FramePoint2d[]	changeFrameCopyBatch(FramePoint2d[] framePoints, ReferenceFrame desiredFrame)
FramePoint2d	changeFrameUsingTransformCopy(ReferenceFrame desiredFrame, javax.media.j3d.Transform3D transformToNewFrame) Changes frame of this FramePoint2d to the given ReferenceFrame, using the given Transform3D and returns a copy.
void	checkForNaN()
void	checkReferenceFrameMatch(ReferenceFrame frame)
void	checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder) Makes sure that the FramePoint2d argument has the same Frame as the current FramePoint2d.
boolean	containsNaN()
double	distance(FramePoint2d framePoint)
double	distanceSquared(FramePoint2d framePoint)
boolean	epsilonEquals(FramePoint2d framePoint, double threshold)
boolean	epsilonEquals(FrameVector2d frameVector, double threshold)
static FramePoint2d	generateRandomFramePoint2d(java.util.Random random, ReferenceFrame zUpFrame, double xMin, double xMax, double yMin, double yMax)
java.lang.String	getName()
javax.vecmath.Point2d	getPoint() Returns the point in this FramePoint2d.
javax.vecmath.Point2d	getPointCopy() Returns a deep copy of the point in this FramePoint2d.
ReferenceFrame	getReferenceFrame()
double	getX()
double	getY()
static FramePoint2d	load(java.io.BufferedReader bufferedReader, ReferenceFrame referenceFrame)
static FramePoint2d	morph(FramePoint2d point1, FramePoint2d point2, double alpha)
void	save(java.io.PrintWriter printWriter)
void	scale(double scaleFactor)
void	scale(double scaleFactor, FramePoint2d point1)
void	scale(double scaleFactor, FrameVector2d vector1)
void	scaleAdd(double scaleFactor, FramePoint2d point1)
void	scaleAdd(double scaleFactor, FramePoint2d point1, FramePoint2d point2)
void	scaleAdd(double scaleFactor, FramePoint2d point1, FrameVector2d vector2)
void	scaleAdd(double scaleFactor, FrameVector2d vector1)
void	scaleAdd(double scaleFactor, FrameVector2d vector1, FramePoint2d point2)
void	scaleAdd(double scaleFactor, FrameVector2d vector1, FrameVector2d vector2)
void	set(double x, double y)
void	set(FramePoint2d framePoint)
void	set(FrameVector2d frameVector)
void	setName(java.lang.String name)
void	setX(double x)
void	setY(double y)
void	sub(FramePoint2d framePoint)
void	sub(FramePoint2d point1, FramePoint2d point2)
void	sub(FramePoint2d point1, FrameVector2d vector2)
void	sub(FrameVector2d frameVector)
void	sub(FrameVector2d vector1, FramePoint2d point2)
double[]	toArray()
static double[]	toArray(FramePoint2d[] framePoints)
java.lang.String	toString() toString String representation of a FrameVector (x,y,z):reference frame name
void	weightedAverage(FramePoint2d point1, FramePoint2d point2, double weightedAverage) Sets this point to be the weighted average of the two input points.
FramePoint2d	yawAboutPoint(FramePoint2d pointToYawAbout, double yaw) yawAboutPoint

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    javax.vecmath.Tuple2d position)

FramePoint2d A normal point associated with a specific reference frame

Parameters:

referenceFrame - Frame

point - Point2d

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    javax.vecmath.Tuple2d position,
                    java.lang.String name)

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    double[] position)

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    double[] position,
                    java.lang.String name)

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame)

FramePoint2d A normal point associated with a specific reference frame

Parameters:

referenceFrame - Frame

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    java.lang.String name)

FramePoint2d

public FramePoint2d(FramePoint2d framePoint)

FramePoint2d A normal point associated with a specific reference frame

Parameters:

referenceFrame - Frame

point - Point3d

FramePoint2d

public FramePoint2d(FramePoint2d framePoint,
                    java.lang.String name)

FramePoint2d

public FramePoint2d(FrameVector2d frameVector)

FramePoint2d Converts frameVector to framePoint

Parameters:

referenceFrame - Frame

point - Point2d

FramePoint2d

public FramePoint2d(FrameVector2d frameVector,
                    java.lang.String name)

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    double x,
                    double y)

FramePoint2d A normal point associated with a specific reference frame. The x, y, and z are used to create the point

Parameters:

referenceFrame - Frame

x - double

y - double

z - double

FramePoint2d

public FramePoint2d(ReferenceFrame referenceFrame,
                    double x,
                    double y,
                    java.lang.String name)

Method Detail

setName

public void setName(java.lang.String name)

getName

public java.lang.String getName()

morph

public static FramePoint2d morph(FramePoint2d point1,
                                 FramePoint2d point2,
                                 double alpha)

getReferenceFrame

public ReferenceFrame getReferenceFrame()

Specified by:

getReferenceFrame in interface ReferenceFrameHolder

distance

public double distance(FramePoint2d framePoint)

distanceSquared

public double distanceSquared(FramePoint2d framePoint)

getX

public double getX()

getY

public double getY()

set

public void set(double x,
                double y)

setX

public void setX(double x)

setY

public void setY(double y)

scale

public void scale(double scaleFactor)

toArray

public double[] toArray()

scale

public void scale(double scaleFactor,
                  FrameVector2d vector1)

scale

public void scale(double scaleFactor,
                  FramePoint2d point1)

scaleAdd

public void scaleAdd(double scaleFactor,
                     FrameVector2d vector1,
                     FrameVector2d vector2)

scaleAdd

public void scaleAdd(double scaleFactor,
                     FrameVector2d vector1,
                     FramePoint2d point2)

scaleAdd

public void scaleAdd(double scaleFactor,
                     FramePoint2d point1,
                     FrameVector2d vector2)

scaleAdd

public void scaleAdd(double scaleFactor,
                     FramePoint2d point1,
                     FramePoint2d point2)

scaleAdd

public void scaleAdd(double scaleFactor,
                     FrameVector2d vector1)

scaleAdd

public void scaleAdd(double scaleFactor,
                     FramePoint2d point1)

getPoint

public javax.vecmath.Point2d getPoint()

Returns the point in this FramePoint2d.

Returns:

Point2d

getPointCopy

public javax.vecmath.Point2d getPointCopy()

Returns a deep copy of the point in this FramePoint2d.

Returns:

Point2d

changeFrameUsingTransformCopy

public FramePoint2d changeFrameUsingTransformCopy(ReferenceFrame desiredFrame,
                                                  javax.media.j3d.Transform3D transformToNewFrame)

Changes frame of this FramePoint2d to the given ReferenceFrame, using the given Transform3D and returns a copy.

Parameters:

desiredFrame - ReferenceFrame to change the FramePoint2d into.

transformToNewFrame - Transform3D from the current frame to the new desiredFrame

Returns:

Copied FramePoint2d in the new reference frame.

changeFrameCopy

public FramePoint2d changeFrameCopy(ReferenceFrame desiredFrame)

Changes frame of this FramePoint2d to the given ReferenceFrame and returns a copy.

Specified by:

changeFrameCopy in interface ReferenceFrameHolder

Parameters:

desiredFrame - ReferenceFrame to change the FramePoint2d into.

Returns:

Copied FramePoint2d in the new reference frame.

applyTransform

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

applyTransformCopy

public FramePoint2d applyTransformCopy(javax.media.j3d.Transform3D transform3D)

changeFrameCopyBatch

public static FramePoint2d[] changeFrameCopyBatch(FramePoint2d[] framePoints,
                                                  ReferenceFrame desiredFrame)

toArray

public static double[] toArray(FramePoint2d[] framePoints)

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)

Makes sure that the FramePoint2d argument has the same Frame as the current FramePoint2d.

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

Parameters:

framePoint - FramePoint2d

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)
                              throws ReferenceFrameMismatchException

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

Throws:

ReferenceFrameMismatchException

checkForNaN

public void checkForNaN()

containsNaN

public boolean containsNaN()

add

public void add(FramePoint2d framePoint)

add

public void add(FrameVector2d frameVector)

add

public void add(FramePoint2d point1,
                FramePoint2d point2)

add

public void add(FramePoint2d point1,
                FrameVector2d vector2)

add

public void add(FrameVector2d vector1,
                FramePoint2d point2)

sub

public void sub(FramePoint2d framePoint)

sub

public void sub(FrameVector2d frameVector)

sub

public void sub(FramePoint2d point1,
                FramePoint2d point2)

sub

public void sub(FramePoint2d point1,
                FrameVector2d vector2)

sub

public void sub(FrameVector2d vector1,
                FramePoint2d point2)

set

public void set(FramePoint2d framePoint)

set

public void set(FrameVector2d frameVector)

weightedAverage

public void weightedAverage(FramePoint2d point1,
                            FramePoint2d point2,
                            double weightedAverage)

Sets this point to be the weighted average of the two input points. p =

Parameters:

point1 - FramePoint2d

point2 - FramePoint2d

weightedAverage - double

Throws:

ReferenceFrameMismatchException

toString

public java.lang.String toString()

toString String representation of a FrameVector (x,y,z):reference frame name

Overrides:

toString in class java.lang.Object

Returns:

String

save

public void save(java.io.PrintWriter printWriter)

load

public static FramePoint2d load(java.io.BufferedReader bufferedReader,
                                ReferenceFrame referenceFrame)
                         throws java.io.IOException

Throws:

java.io.IOException

epsilonEquals

public boolean epsilonEquals(FramePoint2d framePoint,
                             double threshold)

epsilonEquals

public boolean epsilonEquals(FrameVector2d frameVector,
                             double threshold)

yawAboutPoint

public FramePoint2d yawAboutPoint(FramePoint2d pointToYawAbout,
                                  double yaw)

yawAboutPoint

Parameters:

pointToYawAbout - FramePoint2d

yaw - double

Returns:

CartesianPositionFootstep

generateRandomFramePoint2d

public static FramePoint2d generateRandomFramePoint2d(java.util.Random random,
                                                      ReferenceFrame zUpFrame,
                                                      double xMin,
                                                      double xMax,
                                                      double yMin,
                                                      double yMax)