us.ihmc.utilities.math.geometry
Class FrameVector

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

All Implemented Interfaces:

java.io.Serializable, ReferenceFrameHolder

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

One of the main goals of this class is to check, at runtime, that operations on vectors occur within the same Frame. This method checks for one Vector argument.

Version:

2.0

Author:

Learning Locomotion Team

See Also:

Serialized Form

Field Summary

static boolean

LOUD_WARNING

Constructor Summary

FrameVector(FramePoint framePoint)
FrameVector Turns a FramePoint into a FrameVector.

FrameVector(FrameVector frameVector)
FrameVector A normal vector associated with a specific reference frame

FrameVector(ReferenceFrame referenceFrame)
FrameVector A normal vector associated with a specific reference frame

FrameVector(ReferenceFrame referenceFrame, double[] vector)

FrameVector(ReferenceFrame referenceFrame, double x, double y, double z)
FrameVector A normal vector associated with a specific reference frame.

FrameVector(ReferenceFrame referenceFrame, javax.vecmath.Tuple3d tuple)
FrameVector A normal vector associated with a specific reference frame

Method Summary

void	add(FramePoint framePoint)
void	add(FrameVector frameVector)
void	add(FrameVector vector1, FrameVector vector2)
double	angle(FrameVector frameVector)
void	applyTransform(javax.media.j3d.Transform3D transform)
FrameVector	applyTransformCopy(javax.media.j3d.Transform3D transform)
FrameVector	changeFrameCopy(ReferenceFrame desiredFrame) Changes frame of this FrameVector to the given ReferenceFrame and returns a copy.
void	checkForNaN()
void	checkReferenceFrameMatch(ReferenceFrame frame)
void	checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder) Makes sure that the FrameVector argument has the same Frame as the current FrameVector.
boolean	containsNaN()
void	cross(FramePoint f1, FramePoint f2)
void	cross(FramePoint f1, FrameVector f2)
void	cross(FrameVector f1, FramePoint f2)
void	cross(FrameVector f1, FrameVector f2)
double	dot(FrameVector frameVector)
boolean	epsilonEquals(FramePoint framePoint, double threshold)
boolean	epsilonEquals(FrameVector frameVector, double threshold)
ReferenceFrame	getReferenceFrame() Returns this FrameVectors ReferenceFrame.
javax.vecmath.Vector3d	getVector() Retrieves the vector inside this FrameVector
javax.vecmath.Vector3d	getVectorCopy() Returns a deep copy of the vector inside this FrameVector.
double	getX()
double	getY()
double	getZ()
double	length()
double	lengthSquared()
void	negate()
void	normalize()
void	printOutFrameVector(java.lang.String varaibleName)
void	scale(double scaleFactor)
void	scale(double scaleFactor, FramePoint point1) Sets the value of this tuple to the scalar multiplication of vertor1 (this = s * t1).
void	scale(double scaleFactor, FrameVector vector1) Sets the value of this tuple to the scalar multiplication of vertor1 (this = s * t1).
void	scaleAdd(double scaleFactor, FramePoint point1) Sets the value of this tuple to the scalar multiplication of itself and then adds tuple t1 (this = s*this + t1).
void	scaleAdd(double scaleFactor, FramePoint point1, FramePoint point2) Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2).
void	scaleAdd(double scaleFactor, FramePoint point1, FrameVector vector2) Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2).
void	scaleAdd(double scaleFactor, FrameVector vector1) Sets the value of this tuple to the scalar multiplication of itself and then adds tuple t1 (this = s*this + t1).
void	scaleAdd(double scaleFactor, FrameVector vector1, FramePoint point2) Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2).
void	scaleAdd(double scaleFactor, FrameVector vector1, FrameVector vector2) Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2)
void	set(double x, double y, double z)
void	set(FramePoint framePoint)
void	set(FrameVector frameVector)
void	setX(double x)
void	setY(double y)
void	setZ(double z)
void	sub(FramePoint framePoint)
void	sub(FramePoint point1, FramePoint point2)
void	sub(FrameVector frameVector)
void	sub(FrameVector vector1, FrameVector vector2)
double[]	toArray()
static double[]	toArray(FrameVector[] frameVectors)
java.lang.String	toString() toString String representation of a FrameVector (x,y,z):reference frame name
void	weightedAverage(FrameVector vector1, FrameVector vector2, double weightedAverage) Sets this vector to be the weighted average of the two input vectors.

Methods inherited from class java.lang.Object

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

Field Detail

LOUD_WARNING

public static boolean LOUD_WARNING

Constructor Detail

FrameVector

public FrameVector(ReferenceFrame referenceFrame,
                   javax.vecmath.Tuple3d tuple)

FrameVector A normal vector associated with a specific reference frame

Parameters:

referenceFrame - Frame

vector - Vector3d

FrameVector

public FrameVector(ReferenceFrame referenceFrame,
                   double[] vector)

FrameVector

public FrameVector(ReferenceFrame referenceFrame)

FrameVector A normal vector associated with a specific reference frame

Parameters:

referenceFrame - Frame

FrameVector

public FrameVector(FrameVector frameVector)

FrameVector A normal vector associated with a specific reference frame

Parameters:

referenceFrame - Frame

vector - Vector3d

FrameVector

public FrameVector(FramePoint framePoint)

FrameVector Turns a FramePoint into a FrameVector.

Parameters:

referenceFrame - Frame

vector - Vector3d

FrameVector

public FrameVector(ReferenceFrame referenceFrame,
                   double x,
                   double y,
                   double z)

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

Parameters:

referenceFrame - Frame

x - double

y - double

z - double

Method Detail

getReferenceFrame

public ReferenceFrame getReferenceFrame()

Returns this FrameVectors ReferenceFrame.

Specified by:

getReferenceFrame in interface ReferenceFrameHolder

Returns:

ReferenceFrame

getVector

public javax.vecmath.Vector3d getVector()

Retrieves the vector inside this FrameVector

Returns:

Vector3d

getVectorCopy

public javax.vecmath.Vector3d getVectorCopy()

Returns a deep copy of the vector inside this FrameVector.

Returns:

Vector3d

changeFrameCopy

public FrameVector changeFrameCopy(ReferenceFrame desiredFrame)

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

Specified by:

changeFrameCopy in interface ReferenceFrameHolder

Parameters:

desiredFrame - ReferenceFrame to change the FrameVector into.

Returns:

Copied FrameVector in the new reference frame.

negate

public void negate()

getX

public double getX()

getY

public double getY()

getZ

public double getZ()

set

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

setX

public void setX(double x)

setY

public void setY(double y)

setZ

public void setZ(double z)

scale

public void scale(double scaleFactor)

toArray

public double[] toArray()

scale

public void scale(double scaleFactor,
                  FrameVector vector1)

Sets the value of this tuple to the scalar multiplication of vertor1 (this = s * t1).

Parameters:

scaleFactor - double

vector1 - FrameVector

scale

public void scale(double scaleFactor,
                  FramePoint point1)

Sets the value of this tuple to the scalar multiplication of vertor1 (this = s * t1).

Parameters:

scaleFactor - double

point1 - FramePoint

scaleAdd

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

Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2)

Parameters:

scaleFactor - double

vector1 - FrameVector

vector2 - FrameVector

scaleAdd

public void scaleAdd(double scaleFactor,
                     FrameVector vector1,
                     FramePoint point2)

Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2).

Parameters:

scaleFactor - double

vector1 - FrameVector

point2 - FramePoint

scaleAdd

public void scaleAdd(double scaleFactor,
                     FramePoint point1,
                     FrameVector vector2)

Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2).

Parameters:

scaleFactor - double

point1 - FramePoint

vector2 - FrameVector

scaleAdd

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

Sets the value of this tuple to the scalar multiplication of tuple t1 and then adds tuple t2 (this = s*v1 + t2).

Parameters:

scaleFactor - double

point1 - FramePoint

point2 - FramePoint

scaleAdd

public void scaleAdd(double scaleFactor,
                     FrameVector vector1)

Sets the value of this tuple to the scalar multiplication of itself and then adds tuple t1 (this = s*this + t1).

Parameters:

scaleFactor - double

vector1 - FrameVector

scaleAdd

public void scaleAdd(double scaleFactor,
                     FramePoint point1)

Sets the value of this tuple to the scalar multiplication of itself and then adds tuple t1 (this = s*this + t1).

Parameters:

scaleFactor - double

point1 - FramePoint

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)

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

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

Parameters:

frameVector - FrameVector

Throws:

ReferenceFrameMismatchException

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(FrameVector frameVector)

add

public void add(FramePoint framePoint)

add

public void add(FrameVector vector1,
                FrameVector vector2)

sub

public void sub(FrameVector frameVector)

sub

public void sub(FramePoint framePoint)

sub

public void sub(FramePoint point1,
                FramePoint point2)

sub

public void sub(FrameVector vector1,
                FrameVector vector2)

dot

public double dot(FrameVector frameVector)

angle

public double angle(FrameVector frameVector)

cross

public void cross(FrameVector f1,
                  FrameVector f2)

cross

public void cross(FrameVector f1,
                  FramePoint f2)

cross

public void cross(FramePoint f1,
                  FrameVector f2)

cross

public void cross(FramePoint f1,
                  FramePoint f2)

set

public void set(FrameVector frameVector)

set

public void set(FramePoint framePoint)

normalize

public void normalize()

length

public double length()

lengthSquared

public double lengthSquared()

applyTransform

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

applyTransformCopy

public FrameVector applyTransformCopy(javax.media.j3d.Transform3D transform)

toArray

public static double[] toArray(FrameVector[] frameVectors)

weightedAverage

public void weightedAverage(FrameVector vector1,
                            FrameVector vector2,
                            double weightedAverage)

Sets this vector to be the weighted average of the two input vectors. v = (1.0 - weightedAverage) * vector1 + weightedAverage * vector2

Parameters:

vector1 - FramePoint

vector2 - FramePoint

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

printOutFrameVector

public void printOutFrameVector(java.lang.String varaibleName)

epsilonEquals

public boolean epsilonEquals(FramePoint framePoint,
                             double threshold)

epsilonEquals

public boolean epsilonEquals(FrameVector frameVector,
                             double threshold)