/** * Linearly interpolates between tuples frameTuple1 and frameTuple2 and places the result into this tuple: this = (1-alpha) * frameTuple1 + alpha * frameTuple2. * @param frameTuple1 the first tuple * @param frameTuple2 the second tuple * @param alpha the alpha interpolation parameter * @throws ReferenceFrameMismatchException */ public final void interpolate(FrameTuple2d<?, ?> frameTuple1, FrameTuple2d<?, ?> frameTuple2, double alpha) { checkReferenceFrameMatch(frameTuple1); checkReferenceFrameMatch(frameTuple2); putYoValuesIntoFrameTuple2d(); frameTuple2d.interpolate(frameTuple1, frameTuple2, alpha); getYoValuesFromFrameTuple2d(); }
public YoFrameTuple2d(DoubleYoVariable xVariable, DoubleYoVariable yVariable, ReferenceFrame referenceFrame) { this.x = xVariable; this.y = yVariable; this.referenceFrame = referenceFrame; this.frameTuple2d = createEmptyFrameTuple2d(); putYoValuesIntoFrameTuple2d(); }
public final void scaleAdd(double scaleFactor, YoFrameTuple2d<?, ?> yoFrameTuple1, YoFrameTuple2d<?, ?> yoFrameTuple2) { putYoValuesIntoFrameTuple2d(); frameTuple2d.scaleAdd(scaleFactor, yoFrameTuple1.getFrameTuple2d(), yoFrameTuple2.getFrameTuple2d()); getYoValuesFromFrameTuple2d(); }
public final void set(ReferenceFrame referenceFrame, double x, double y) { checkReferenceFrameMatch(referenceFrame); set(x, y); }
public final void set(YoFrameTuple2d<?, ?> yoFrameTuple2d) { set(yoFrameTuple2d.getFrameTuple2d()); }
public final void add(FrameTuple2d<?, ?> frameTuple2d) { putYoValuesIntoFrameTuple2d(); this.frameTuple2d.add(frameTuple2d); getYoValuesFromFrameTuple2d(); }
public static FilteredVelocityYoFrameVector2d createFilteredVelocityYoFrameVector2d(String namePrefix, String nameSuffix, String description, DoubleYoVariable alpha, double dt, YoVariableRegistry registry, YoFrameTuple2d<?, ?> yoFrameVectorToDifferentiate) { FilteredVelocityYoVariable xDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), description, alpha, yoFrameVectorToDifferentiate.getYoX(), dt, registry); FilteredVelocityYoVariable yDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), description, alpha, yoFrameVectorToDifferentiate.getYoY(), dt, registry); FilteredVelocityYoFrameVector2d ret = new FilteredVelocityYoFrameVector2d(xDot, yDot, alpha, dt, registry, yoFrameVectorToDifferentiate.getReferenceFrame()); return ret; }
public final T getFrameTuple2d() { putYoValuesIntoFrameTuple2d(); return frameTuple2d; }
public final void scaleAdd(double scaleFactor, YoFrameTuple2d<?, ?> yoFrameTuple2d) { scaleAdd(scaleFactor, yoFrameTuple2d.getFrameTuple2d()); }
protected void getYoValuesFromFrameTuple2d() { getYoValuesFromFrameTuple2d(true); }
public final void setAndMatchFrame(FrameTuple2d<?, ?> frameTuple2d, boolean notifyListeners) { this.frameTuple2d.setIncludingFrame(frameTuple2d); this.frameTuple2d.changeFrame(getReferenceFrame()); getYoValuesFromFrameTuple2d(notifyListeners); }
public final void getFrameTuple2d(FrameTuple2d<?, ?> frameTuple2dToPack) { frameTuple2dToPack.set(getFrameTuple2d()); }
public final Vector2d getVector2dCopy() { Vector2d vector2d = new Vector2d(); get(vector2d); return vector2d; }
public void setXYIncludingFrame(YoFrameTuple2d<?, ?> yoFrameTuple2d) { multipleFramesHelper.switchCurrentReferenceFrame(yoFrameTuple2d.getReferenceFrame()); setXY(yoFrameTuple2d); }
public final void setXY(YoFrameTuple2d<?, ?> yoFrameTuple2d) { this.frameTuple.setToZero(getReferenceFrame()); yoFrameTuple2d.getFrameTupleIncludingFrame(frameTuple); getYoValuesFromFrameTuple(); }
public final void sub(FrameTuple2d<?, ?> frameTuple2d) { putYoValuesIntoFrameTuple2d(); this.frameTuple2d.sub(frameTuple2d); getYoValuesFromFrameTuple2d(); }
/** * Pack this tuple2d in tuple3fToPack and tuple3fToPack.z = 0.0. * @param tuple3fToPack {@code Tuple3f} */ public final void get(Tuple3f tuple3fToPack) { putYoValuesIntoFrameTuple2d(); frameTuple2d.get(tuple3fToPack); }
public final void set(FrameTuple2d<?, ?> frameTuple2d, boolean notifyListeners) { this.frameTuple2d.set(frameTuple2d); getYoValuesFromFrameTuple2d(notifyListeners); }
public final FramePoint2d getFramePoint2dCopy() { return new FramePoint2d(getFrameTuple2d()); }
public final Point2d getPoint2dCopy() { Point2d point2d = new Point2d(); get(point2d); return point2d; }