public void getPosition(Tuple3d tupleToPack) { tupleToPack.set(position); }
/** * Sets the value of this tuple to the sum of tuple1 and tuple2 (this = tuple1 + tuple2). * @param tuple1 the first Tuple3d * @param tuple2 the second Tuple3d */ public final void add(Tuple3d tuple1, Tuple3d tuple2) { tuple.add(tuple1, tuple2); }
@Override protected void setBehaviorInput() { FramePose goalPose = new FramePose(); lookForGoalBehavior.getGoalPose(goalPose); Tuple3d goalPosition = new Point3d(); goalPose.getPosition(goalPosition); String xString = FormattingTools.getFormattedToSignificantFigures(goalPosition.getX(), 3); String yString = FormattingTools.getFormattedToSignificantFigures(goalPosition.getY(), 3); TextToSpeechPacket p1 = new TextToSpeechPacket("Plannning Footsteps to (" + xString + ", " + yString + ")"); sendPacket(p1); planHumanoidFootstepsBehavior.setGoalPoseAndFirstSwingSide(goalPose, nextSideToSwing.getEnumValue()); } };
public final double getX() { return tuple.getX(); }
public final double getY() { return tuple.getY(); }
public final double getZ() { return tuple.getZ(); }
/** * @deprecated Use clamp(double,double,Tuple3d) instead */ public final void clamp(float min, float max, Tuple3d t) { clamp((double)min, (double)max, t); }
/** * Returns true if the L-infinite distance between this tuple and tuple1 is less than or equal to the epsilon parameter, otherwise returns false. * The L-infinite distance is equal to MAX[abs(x1-x2), abs(y1-y2), abs(z1-z2)]. * @param tuple1 Tuple3d * @param threshold double */ public final boolean epsilonEquals(Tuple3d tuple1, double threshold) { if (tuple1 == null) { return false; } return tuple.epsilonEquals(tuple1, threshold); }
/** * @deprecated Use clamp(double,double) instead */ public final void clamp(float min, float max) { clamp((double)min, (double)max); }
public static void assertTuple3dEquals(String message, Tuple3d expected, Tuple3d actual, double delta) { boolean areEqual = expected.epsilonEquals(actual, delta); if (message.equals("")) { message = "Tuple3ds are not Equal!"; } if (!areEqual) { Vector3d difference = new Vector3d(actual); difference.sub(expected); fail(message + " Expected = " + expected + ", actual = " + actual + ". norm of difference = " + difference.length()); } }
@Override public final void setToNaN(ReferenceFrame referenceFrame) { this.tuple.set(Double.NaN, Double.NaN, Double.NaN); this.referenceFrame = referenceFrame; }
/** * Sets the value of this tuple to the sum of itself and tuple1. * @param tuple1 the other Tuple3d */ public final void add(Tuple3d tuple1) { tuple.add(tuple1); }
public final void clipToMinMax(double minValue, double maxValue) { this.tuple.clamp(minValue, maxValue); }