/** * Redefines this line with a new point, a new direction vector, and a new reference frame. * * @param pointOnLine new point on this line. Not modified. * @param lineDirection new direction of this line. Not modified. */ default void setIncludingFrame(FramePoint3DReadOnly pointOnLine, Vector3DReadOnly lineDirection) { setIncludingFrame(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection); }
/** * Redefines this line with a new point, a new direction vector, and a new reference frame. * * @param pointOnLine new point on this line. Not modified. * @param lineDirection new direction of this line. Not modified. */ default void setIncludingFrame(FramePoint3DReadOnly pointOnLine, Vector3DReadOnly lineDirection) { setIncludingFrame(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection); }
/** * Redefines this line such that it goes through the two given points in the given reference frame. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. */ default void setIncludingFrame(FramePoint3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine) { setIncludingFrame(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Redefines this line such that it goes through the two given points. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code firstPointOnLine} are not * expressed in the same reference frame. */ default void set(FramePoint3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine) { set(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Redefines this line such that it goes through the two given points. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code secondPointOnLine} are not * expressed in the same reference frame. */ default void set(Point3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine) { set(secondPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Add a vertex to this polygon using only the x and y coordinates of the given {@code vertex}. * * @param vertex the new vertex. Not modified. * @see #addVertexMatchingFrame(ReferenceFrame, Point3DReadOnly) * @see #addVertex(Point3DReadOnly) */ default void addVertexMatchingFrame(FramePoint3DReadOnly vertex) { addVertexMatchingFrame(vertex.getReferenceFrame(), vertex); }
/** * Redefines this line such that it goes through the two given points. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code firstPointOnLine} are not * expressed in the same reference frame. */ default void set(FramePoint3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine) { set(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Redefines this line such that it goes through the two given points in the given reference frame. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. */ default void setIncludingFrame(FramePoint3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine) { setIncludingFrame(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Redefines this line such that it goes through the two given points in the given reference frame. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. */ default void setIncludingFrame(Point3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine) { setIncludingFrame(secondPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Redefines this line such that it goes through the two given points in the given reference frame. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. */ default void setIncludingFrame(Point3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine) { setIncludingFrame(secondPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); } }
/** * Changes the first endpoint of this line segment. * * @param firstEndpoint new endpoint of this line segment. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code firstEndpoint} are not * expressed in the same reference frame. */ default void setFirstEndpoint(FramePoint3DReadOnly firstEndpoint) { setFirstEndpoint(firstEndpoint.getReferenceFrame(), firstEndpoint); }
/** * Redefines this line with a new point and a new direction vector. * * @param pointOnLine new point on this line. Not modified. * @param lineDirection new direction of this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code pointOnLine} are not * expressed in the same reference frame. */ default void set(FramePoint3DReadOnly pointOnLine, Vector3DReadOnly lineDirection) { set(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection); }
/** * Redefines this line such that it goes through the two given points. * * @param firstPointOnLine first point on this line. Not modified. * @param secondPointOnLine second point on this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code secondPointOnLine} are not * expressed in the same reference frame. */ default void set(Point3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine) { set(secondPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine); }
/** * Redefines this line with a new point and a new direction vector. * * @param pointOnLine new point on this line. Not modified. * @param lineDirection new direction of this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this} and {@code pointOnLine} are not expressed * in the same reference frame. */ default void set(FramePoint3DReadOnly pointOnLine, Vector3DReadOnly lineDirection) { set(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection); }
/** * Gets the reference frame of the first vertex or returns {@code null} if this supplier is * empty. */ @Override default ReferenceFrame getReferenceFrame() { return isEmpty() ? null : getVertex(0).getReferenceFrame(); }
/** * Redefines this line with a new point and a new direction vector. * * @param pointOnLine new point on this line. Not modified. * @param lineDirection new direction of this line. Not modified. * @throws ReferenceFrameMismatchException if {@code this}, {@code pointOnLine}, * {@code lineDirection} are not expressed in the same reference frame. */ default void set(FramePoint3DReadOnly pointOnLine, FrameVector3DReadOnly lineDirection) { pointOnLine.checkReferenceFrameMatch(lineDirection); set(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection); }
public void setIncludingFrame(double time, FramePoint3DReadOnly position, FrameVector3DReadOnly linearVelocity) { position.checkReferenceFrameMatch(linearVelocity); setToZero(position.getReferenceFrame()); geometryObject.set(time, position, linearVelocity); }
public void setIncludingFrame(double time, FramePoint3DReadOnly position, FrameQuaternionReadOnly orientation, FrameVector3DReadOnly linearVelocity, FrameVector3DReadOnly angularVelocity) { position.checkReferenceFrameMatch(orientation); position.checkReferenceFrameMatch(linearVelocity); position.checkReferenceFrameMatch(angularVelocity); setToZero(position.getReferenceFrame()); geometryObject.set(time, position, orientation, linearVelocity, angularVelocity); }
private void computeInitialConstraintError(FramePoint3DReadOnly initialPosition, double initialTime) { trajectory.compute(initialTime); trajectoryFrame.checkReferenceFrameMatch(initialPosition.getReferenceFrame()); trajectory.getPosition(tempPosition); tempPosition.changeFrame(trajectoryFrame); initialConstraintPositionError.set(initialPosition); initialConstraintPositionError.sub(tempPosition); }
private void computeFinalConstraintError(FramePoint3DReadOnly finalPosition, double finalTime) { trajectory.compute(finalTime); trajectoryFrame.checkReferenceFrameMatch(finalPosition.getReferenceFrame()); trajectory.getPosition(tempPosition); tempPosition.changeFrame(trajectoryFrame); finalConstraintPositionError.set(finalPosition); finalConstraintPositionError.sub(tempPosition); }