com.yobotics.simulationconstructionset.util.math.frames
Class YoFrameVector

java.lang.Object
  com.yobotics.simulationconstructionset.util.math.frames.YoFrameVector

Direct Known Subclasses:

AlphaFilteredYoFrameVector, FilteredVelocityYoFrameVector

public class YoFrameVector
extends java.lang.Object

Constructor Summary

YoFrameVector(java.lang.String namePrefix, java.lang.String nameSuffix, us.ihmc.utilities.math.geometry.ReferenceFrame frame, YoVariableRegistry registry)

YoFrameVector(YoVariable xVariable, YoVariable yVariable, YoVariable zVariable, us.ihmc.utilities.math.geometry.ReferenceFrame frame)

Method Summary

void	add(double dx, double dy, double dz)
void	add(us.ihmc.utilities.math.geometry.FramePoint point)
void	add(us.ihmc.utilities.math.geometry.FrameVector vector)
void	applyTransform(javax.media.j3d.Transform3D transform)
void	checkForNaN()
void	checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrame frame)
boolean	containsNaN()
double	dot(us.ihmc.utilities.math.geometry.FrameVector vector)
double	dot(YoFrameVector yoFrameVector)
boolean	epsilonEquals(us.ihmc.utilities.math.geometry.FramePoint framePoint, double threshold)
boolean	epsilonEquals(us.ihmc.utilities.math.geometry.FrameVector frameVector, double threshold)
void	getFramePoint(us.ihmc.utilities.math.geometry.FramePoint point)
void	getFrameVector(us.ihmc.utilities.math.geometry.FrameVector vector)
us.ihmc.utilities.math.geometry.FrameVector	getFrameVectorCopy()
us.ihmc.utilities.math.geometry.ReferenceFrame	getReferenceFrame()
double	getX()
double	getY()
YoVariable	getYoX()
YoVariable	getYoY()
YoVariable	getYoZ()
double	getZ()
double	length()
double	lengthSquared()
void	normalize()
void	scale(double scaleFactor)
void	scaleAdd(double scaleFactor, us.ihmc.utilities.math.geometry.FrameVector vector)
void	scaleAdd(double scaleFactor, YoFrameVector yoFrameVector)
void	scaleAdd(double scaleFactor, YoFrameVector yoFrameVector1, YoFrameVector yoFrameVector2)
void	set(double newX, double newY, double newZ)
void	set(us.ihmc.utilities.math.geometry.FramePoint point)
void	set(us.ihmc.utilities.math.geometry.FrameVector vector)
void	set(YoFramePoint yoFramePoint)
void	set(YoFrameVector yoFrameVector)
void	setX(double newX)
void	setY(double newY)
void	setZ(double newZ)
void	sub(us.ihmc.utilities.math.geometry.FramePoint point)
void	sub(us.ihmc.utilities.math.geometry.FramePoint point1, us.ihmc.utilities.math.geometry.FramePoint point2)
void	sub(us.ihmc.utilities.math.geometry.FrameVector vector)

Methods inherited from class java.lang.Object

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

Constructor Detail

YoFrameVector

public YoFrameVector(java.lang.String namePrefix,
                     java.lang.String nameSuffix,
                     us.ihmc.utilities.math.geometry.ReferenceFrame frame,
                     YoVariableRegistry registry)

YoFrameVector

public YoFrameVector(YoVariable xVariable,
                     YoVariable yVariable,
                     YoVariable zVariable,
                     us.ihmc.utilities.math.geometry.ReferenceFrame frame)

Method Detail

checkReferenceFrameMatch

public void checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrame frame)

getFramePoint

public void getFramePoint(us.ihmc.utilities.math.geometry.FramePoint point)

getFrameVectorCopy

public us.ihmc.utilities.math.geometry.FrameVector getFrameVectorCopy()

getFrameVector

public void getFrameVector(us.ihmc.utilities.math.geometry.FrameVector vector)

set

public void set(us.ihmc.utilities.math.geometry.FrameVector vector)

set

public void set(us.ihmc.utilities.math.geometry.FramePoint point)

set

public void set(YoFramePoint yoFramePoint)

set

public void set(YoFrameVector yoFrameVector)

add

public void add(double dx,
                double dy,
                double dz)

length

public double length()

lengthSquared

public double lengthSquared()

add

public void add(us.ihmc.utilities.math.geometry.FrameVector vector)

add

public void add(us.ihmc.utilities.math.geometry.FramePoint point)

sub

public void sub(us.ihmc.utilities.math.geometry.FrameVector vector)

sub

public void sub(us.ihmc.utilities.math.geometry.FramePoint point)

sub

public void sub(us.ihmc.utilities.math.geometry.FramePoint point1,
                us.ihmc.utilities.math.geometry.FramePoint point2)

scale

public void scale(double scaleFactor)

scaleAdd

public void scaleAdd(double scaleFactor,
                     YoFrameVector yoFrameVector1,
                     YoFrameVector yoFrameVector2)

scaleAdd

public void scaleAdd(double scaleFactor,
                     YoFrameVector yoFrameVector)

scaleAdd

public void scaleAdd(double scaleFactor,
                     us.ihmc.utilities.math.geometry.FrameVector vector)

getX

public double getX()

getY

public double getY()

getZ

public double getZ()

getYoX

public YoVariable getYoX()

getYoY

public YoVariable getYoY()

getYoZ

public YoVariable getYoZ()

setX

public void setX(double newX)

setY

public void setY(double newY)

setZ

public void setZ(double newZ)

set

public void set(double newX,
                double newY,
                double newZ)

dot

public double dot(us.ihmc.utilities.math.geometry.FrameVector vector)

dot

public double dot(YoFrameVector yoFrameVector)

normalize

public void normalize()

epsilonEquals

public boolean epsilonEquals(us.ihmc.utilities.math.geometry.FramePoint framePoint,
                             double threshold)

epsilonEquals

public boolean epsilonEquals(us.ihmc.utilities.math.geometry.FrameVector frameVector,
                             double threshold)

checkForNaN

public void checkForNaN()

containsNaN

public boolean containsNaN()

applyTransform

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

getReferenceFrame

public us.ihmc.utilities.math.geometry.ReferenceFrame getReferenceFrame()