us.ihmc.euclid.referenceFrame.FrameLine3D Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame;
import us.ihmc.euclid.Axis3D;
import us.ihmc.euclid.geometry.interfaces.Line2DReadOnly;
import us.ihmc.euclid.geometry.interfaces.Line3DBasics;
import us.ihmc.euclid.geometry.interfaces.Line3DReadOnly;
import us.ihmc.euclid.geometry.interfaces.LineSegment2DReadOnly;
import us.ihmc.euclid.geometry.interfaces.LineSegment3DReadOnly;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameUnitVector3DBasics;
import us.ihmc.euclid.referenceFrame.interfaces.FrameLine2DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameLine3DBasics;
import us.ihmc.euclid.referenceFrame.interfaces.FrameLine3DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameLineSegment2DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameLineSegment3DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
import us.ihmc.euclid.referenceFrame.tools.EuclidFrameFactories;
import us.ihmc.euclid.tools.EuclidCoreIOTools;
import us.ihmc.euclid.tools.EuclidHashCodeTools;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
/**
* {@code FrameLine3D} is a 3D line expressed in a given reference frame.
*
* In addition to representing a {@link Line3DBasics}, a {@link ReferenceFrame} is associated to a
* {@code FrameLine3D}. This allows, for instance, to enforce, at runtime, that operations on lines
* occur in the same coordinate system. Also, via the method {@link #changeFrame(ReferenceFrame)},
* one can easily calculates the value of a point in different reference frames.
*
*
* Because a {@code FrameLine3D} extends {@code Line3DBasics}, it is compatible with methods only
* requiring {@code Line3DBasics}. However, these methods do NOT assert that the operation occur in
* the proper coordinate system. Use this feature carefully and always prefer using methods
* requiring {@code FrameLine3D}.
*
*/
public class FrameLine3D implements FrameLine3DBasics, Settable
{
/** The reference frame in which this line is expressed. */
private ReferenceFrame referenceFrame;
private final FixedFramePoint3DBasics point = EuclidFrameFactories.newFixedFramePoint3DBasics(this);
private final FixedFrameUnitVector3DBasics direction = EuclidFrameFactories.newFixedFrameUnitVector3DBasics(this, Axis3D.X);
/**
* Default constructor that initializes its {@code point} to zero, its {@code direction} to
* {@link Axis3D#X} and the reference frame to {@code ReferenceFrame.getWorldFrame()}.
*/
public FrameLine3D()
{
setToZero(ReferenceFrame.getWorldFrame());
}
/**
* Creates a new line and initializes both {@link #point} and {@link #direction} to zero and the
* reference frame to the given {@code referenceFrame}.
*
* @param referenceFrame the initial reference frame for this line.
*/
public FrameLine3D(ReferenceFrame referenceFrame)
{
setToZero(referenceFrame);
}
/**
* Creates a new line, initializes its point and direction from the given line and its reference
* frame to {@code ReferenceFrame.getWorldFrame()}.
*
* @param line2DReadOnly the line used to initialize the point and direction of this. Not modified.
*/
public FrameLine3D(Line2DReadOnly line2DReadOnly)
{
setIncludingFrame(ReferenceFrame.getWorldFrame(), line2DReadOnly);
}
/**
* Creates a new line, initializes its point and direction from the given line and its reference
* frame to {@code referenceFrame}.
*
* @param referenceFrame the initial reference frame for this line.
* @param line2DReadOnly the line used to initialize the point and direction of this. Not modified.
*/
public FrameLine3D(ReferenceFrame referenceFrame, Line2DReadOnly line2DReadOnly)
{
setIncludingFrame(referenceFrame, line2DReadOnly);
}
/**
* Creates a new line, initializes its point and direction from the given line and its reference
* frame to {@code ReferenceFrame.getWorldFrame()}.
*
* @param line3DReadOnly the line used to initialize the point and direction of this. Not modified.
*/
public FrameLine3D(Line3DReadOnly line3DReadOnly)
{
setIncludingFrame(ReferenceFrame.getWorldFrame(), line3DReadOnly);
}
/**
* Creates a new line, initializes its point and direction from the given line and its reference
* frame to {@code referenceFrame}.
*
* @param referenceFrame the initial reference frame for this line.
* @param line3DReadOnly the line used to initialize the point and direction of this. Not modified.
*/
public FrameLine3D(ReferenceFrame referenceFrame, Line3DReadOnly line3DReadOnly)
{
setIncludingFrame(referenceFrame, line3DReadOnly);
}
/**
* Creates a new line, initializes it to go through the two given points in the given frame.
*
* @param referenceFrame the initial reference frame for this line.
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
*/
public FrameLine3D(ReferenceFrame referenceFrame, Point3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine)
{
setIncludingFrame(referenceFrame, firstPointOnLine, secondPointOnLine);
}
/**
* Creates a new line, initializes it using the given point and direction in the given frame.
*
* @param referenceFrame the initial reference frame for this line.
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
*/
public FrameLine3D(ReferenceFrame referenceFrame, Point3DReadOnly pointOnLine, Vector3DReadOnly lineDirection)
{
setIncludingFrame(referenceFrame, pointOnLine, lineDirection);
}
/**
* Creates a new line and initializes it to go through the endpoints of the given line segment.
*
* The reference frame is initialized to {@code ReferenceFrame.getWorldFrame()}.
*
*
* @param lineSegment2DReadOnly the line segment to copy. Not modified.
*/
public FrameLine3D(LineSegment2DReadOnly lineSegment2DReadOnly)
{
setIncludingFrame(ReferenceFrame.getWorldFrame(), lineSegment2DReadOnly);
}
/**
* Creates a new line and initializes it to go through the endpoints of the given line segment.
*
* The reference frame is initialized to {@code ReferenceFrame.getWorldFrame()}.
*
*
* @param referenceFrame the reference frame in which the given line segment is expressed.
* The initial frame for this frame line.
* @param lineSegment2DReadOnly the line segment to copy. Not modified.
*/
public FrameLine3D(ReferenceFrame referenceFrame, LineSegment2DReadOnly lineSegment2DReadOnly)
{
setIncludingFrame(referenceFrame, lineSegment2DReadOnly);
}
/**
* Creates a new line and initializes it to go through the endpoints of the given line segment.
*
* The reference frame is initialized to {@code ReferenceFrame.getWorldFrame()}.
*
*
* @param lineSegment3DReadOnly the line segment to copy. Not modified.
*/
public FrameLine3D(LineSegment3DReadOnly lineSegment3DReadOnly)
{
setIncludingFrame(ReferenceFrame.getWorldFrame(), lineSegment3DReadOnly);
}
/**
* Creates a new line and initializes it to go through the endpoints of the given line segment.
*
* The reference frame is initialized to {@code ReferenceFrame.getWorldFrame()}.
*
*
* @param referenceFrame the reference frame in which the given line segment is expressed.
* The initial frame for this frame line.
* @param lineSegment3DReadOnly the line segment to copy. Not modified.
*/
public FrameLine3D(ReferenceFrame referenceFrame, LineSegment3DReadOnly lineSegment3DReadOnly)
{
setIncludingFrame(referenceFrame, lineSegment3DReadOnly);
}
/**
* Creates a new line and initializes it to other.
*
* @param frameLine2DReadOnly the other line to copy. Not modified.
*/
public FrameLine3D(FrameLine2DReadOnly frameLine2DReadOnly)
{
setIncludingFrame(frameLine2DReadOnly);
}
/**
* Creates a new line and initializes it to other.
*
* @param other the other line to copy. Not modified.
*/
public FrameLine3D(FrameLine3DReadOnly other)
{
setIncludingFrame(other);
}
/**
* Creates a new line and initializes it to go through the endpoints of the given line segment.
*
* @param frameLineSegment2DReadOnly the line segment used to initialize this frame line. Not
* modified.
*/
public FrameLine3D(FrameLineSegment2DReadOnly frameLineSegment2DReadOnly)
{
setIncludingFrame(frameLineSegment2DReadOnly);
}
/**
* Creates a new line and initializes it to go through the endpoints of the given line segment.
*
* @param frameLineSegment3DReadOnly the line segment used to initialize this frame line. Not
* modified.
*/
public FrameLine3D(FrameLineSegment3DReadOnly frameLineSegment3DReadOnly)
{
setIncludingFrame(frameLineSegment3DReadOnly);
}
/**
* Creates a new line and initializes it to go through the given points.
*
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
* @throws ReferenceFrameMismatchException if the arguments are not expressed in the reference
* frame.
*/
public FrameLine3D(FramePoint3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine)
{
setIncludingFrame(firstPointOnLine, secondPointOnLine);
}
/**
* Creates a new line and initializes it to the given point and direction.
*
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
* @throws ReferenceFrameMismatchException if the arguments are not expressed in the reference
* frame.
*/
public FrameLine3D(FramePoint3DReadOnly pointOnLine, FrameVector3DReadOnly lineDirection)
{
setIncludingFrame(pointOnLine, lineDirection);
}
/** {@inheritDoc} */
@Override
public void set(FrameLine3D other)
{
FrameLine3DBasics.super.set(other);
}
/** {@inheritDoc} */
@Override
public void setReferenceFrame(ReferenceFrame referenceFrame)
{
this.referenceFrame = referenceFrame;
}
/** {@inheritDoc} */
@Override
public FixedFramePoint3DBasics getPoint()
{
return point;
}
/** {@inheritDoc} */
@Override
public FixedFrameUnitVector3DBasics getDirection()
{
return direction;
}
/** {@inheritDoc} */
@Override
public ReferenceFrame getReferenceFrame()
{
return referenceFrame;
}
/**
* Tests if the given {@code object}'s class is the same as this, in which case the method returns
* {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
*
* @param object the object to compare against this. Not modified.
* @return {@code true} if {@code object} and this are exactly equal, {@code false} otherwise.
*/
@Override
public boolean equals(Object object)
{
if (object instanceof FrameLine3DReadOnly)
return equals((EuclidFrameGeometry) object);
else
return false;
}
/**
* Provides a {@code String} representation of this frame line 3D as follows:
* Line 3D: point = (x, y, z), direction = (x, y, z)-worldFrame
*
* @return the {@code String} representing this line 3D.
*/
@Override
public String toString()
{
return toString(EuclidCoreIOTools.DEFAULT_FORMAT);
}
/**
* Calculates and returns a hash code value from the value of each component of this line 3D.
*
* @return the hash code value for this line 3D.
*/
@Override
public int hashCode()
{
return EuclidHashCodeTools.toIntHashCode(point, direction);
}
}
© 2015 - 2025 Weber Informatics LLC | Privacy Policy