us.ihmc.euclid.referenceFrame.FramePoint3D Maven / Gradle / Ivy

Go to download
package us.ihmc.euclid.referenceFrame;

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.FramePoint3DBasics;
import us.ihmc.euclid.referenceFrame.interfaces.FrameTuple2DReadOnly;
import us.ihmc.euclid.referenceFrame.interfaces.FrameTuple3DReadOnly;
import us.ihmc.euclid.tools.EuclidCoreIOTools;
import us.ihmc.euclid.tools.EuclidHashCodeTools;
import us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly;
import us.ihmc.euclid.tuple3D.Point3D;
import us.ihmc.euclid.tuple3D.interfaces.Point3DBasics;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;

/**
 * {@code FramePoint3D} is a 3D point expressed in a given reference frame.
 * 
 * In addition to representing a {@link Point3DBasics}, a {@link ReferenceFrame} is associated to a
 * {@code FramePoint3D}. This allows, for instance, to enforce, at runtime, that operations on
 * points 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 FramePoint3D} extends {@code Point3DBasics}, it is compatible with methods only
 * requiring {@code Point3DBasics}. 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 FramePoint3D}.
 * 
 */
public class FramePoint3D implements FramePoint3DBasics, Settable
{
   /** The reference frame is which this point is currently expressed. */
   private ReferenceFrame referenceFrame;
   /** The point holding the current coordinates of this frame point. */
   private final Point3D point = new Point3D();

   /**
    * Creates a new frame point and initializes it coordinates to zero and its reference frame to
    * {@link ReferenceFrame#getWorldFrame()}.
    */
   public FramePoint3D()
   {
      setToZero(ReferenceFrame.getWorldFrame());
   }

   /**
    * Creates a new frame point and initializes it coordinates to zero and its reference frame to the
    * {@code referenceFrame}.
    *
    * @param referenceFrame the initial frame for this frame point.
    */
   public FramePoint3D(ReferenceFrame referenceFrame)
   {
      setToZero(referenceFrame);
   }

   /**
    * Creates a new frame point and initializes it with the given coordinates and the given reference
    * frame.
    *
    * @param referenceFrame the initial frame for this frame point.
    * @param x              the x-coordinate.
    * @param y              the y-coordinate.
    * @param z              the z-coordinate.
    */
   public FramePoint3D(ReferenceFrame referenceFrame, double x, double y, double z)
   {
      setIncludingFrame(referenceFrame, x, y, z);
   }

   /**
    * Creates a new frame point and initializes its coordinates {@code x}, {@code y}, {@code z} in
    * order from the given array and initializes its reference frame.
    *
    * @param referenceFrame the initial frame for this frame point.
    * @param pointArray     the array containing this point's coordinates. Not modified.
    */
   public FramePoint3D(ReferenceFrame referenceFrame, double[] pointArray)
   {
      setIncludingFrame(referenceFrame, pointArray);
   }

   /**
    * Creates a new frame point and initializes it to {@code tuple3DReadOnly} and to the given
    * reference frame.
    *
    * @param referenceFrame  the initial frame for this frame point.
    * @param tuple3DReadOnly the tuple to copy the coordinates from. Not modified.
    */
   public FramePoint3D(ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
   {
      setIncludingFrame(referenceFrame, tuple3DReadOnly);
   }

   /**
    * Creates a new frame point and initializes its x and y coordinate to {@code tuple2DReadOnly} and
    * to the given reference frame.
    *
    * @param referenceFrame  the initial frame for this frame point.
    * @param tuple2DReadOnly the tuple to copy the coordinates from. Not modified.
    */
   public FramePoint3D(ReferenceFrame referenceFrame, Tuple2DReadOnly tuple2DReadOnly)
   {
      setIncludingFrame(referenceFrame, tuple2DReadOnly, 0.0);
   }

   /**
    * Creates a new frame point and initializes its reference frame x and y coordinates from
    * {@code frameTuple2DReadOnly}.
    *
    * @param frameTuple2DReadOnly the tuple to copy the coordinates and reference frame from. Not
    *                             modified.
    */
   public FramePoint3D(FrameTuple2DReadOnly frameTuple2DReadOnly)
   {
      setIncludingFrame(frameTuple2DReadOnly, 0.0);
   }

   /**
    * Creates a new frame point and initializes it to {@code other}.
    *
    * @param other the tuple to copy the coordinates and reference frame from. Not modified.
    */
   public FramePoint3D(FrameTuple3DReadOnly other)
   {
      setIncludingFrame(other);
   }

   /**
    * Sets this frame point to {@code other}.
    *
    * @param other the other frame point to set this to. Not modified.
    * @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
    *                                         {@code this}.
    */
   @Override
   public void set(FramePoint3D other)
   {
      FramePoint3DBasics.super.set(other);
   }

   /**
    * Sets the reference frame of this point without updating or modifying its x, y, and z components.
    *
    * @param referenceFrame the new reference frame for this frame point.
    */
   @Override
   public void setReferenceFrame(ReferenceFrame referenceFrame)
   {
      this.referenceFrame = referenceFrame;
   }

   /**
    * Sets the x-coordinate of this point.
    *
    * @param x the x-coordinate.
    */
   @Override
   public void setX(double x)
   {
      point.setX(x);
   }

   /**
    * Sets the y-coordinate of this point.
    *
    * @param y the y-coordinate.
    */
   @Override
   public void setY(double y)
   {
      point.setY(y);
   }

   /**
    * Sets the z-coordinate of this point.
    *
    * @param z the z-coordinate.
    */
   @Override
   public void setZ(double z)
   {
      point.setZ(z);
   }

   /**
    * Gets the reference frame in which this point is currently expressed.
    */
   @Override
   public ReferenceFrame getReferenceFrame()
   {
      return referenceFrame;
   }

   /**
    * Returns the value of the x-coordinate of this point.
    *
    * @return the x-coordinate's value.
    */
   @Override
   public double getX()
   {
      return point.getX();
   }

   /**
    * Returns the value of the y-coordinate of this point.
    *
    * @return the y-coordinate's value.
    */
   @Override
   public double getY()
   {
      return point.getY();
   }

   /**
    * Returns the value of the z-coordinate of this point.
    *
    * @return the z-coordinate's value.
    */
   @Override
   public double getZ()
   {
      return point.getZ();
   }

   /**
    * 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.
    * 
    * If the two points have different frames, this method returns {@code false}.
    * 
    *
    * @param object the object to compare against this. Not modified.
    * @return {@code true} if the two points are exactly equal component-wise and are expressed in the
    *         same reference frame, {@code false} otherwise.
    */
   @Override
   public boolean equals(Object object)
   {
      if (object instanceof FrameTuple3DReadOnly)
         return equals((EuclidFrameGeometry) object);
      else
         return false;
   }

   /**
    * Provides a {@code String} representation of this frame point 3D as follows: (x, y, z)-worldFrame.
    *
    * @return the {@code String} representing this frame point 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 frame point 3D.
    *
    * @return the hash code value for this frame point 3D.
    */
   @Override
   public int hashCode()
   {
      return EuclidHashCodeTools.toIntHashCode(point, referenceFrame);
   }
}