us.ihmc.euclid.referenceFrame.interfaces.FixedFrameBoundingBox3DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.geometry.interfaces.BoundingBox3DBasics;
import us.ihmc.euclid.geometry.interfaces.BoundingBox3DReadOnly;
import us.ihmc.euclid.geometry.interfaces.Vertex3DSupplier;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
/**
* Write and read interface for a 3D axis-aligned bounding box expressed in a constant reference
* frame, i.e. the reference frame of this object cannot be changed via this interface.
*/
public interface FixedFrameBoundingBox3DBasics extends BoundingBox3DBasics, FrameBoundingBox3DReadOnly
{
/** {@inheritDoc} */
@Override
FixedFramePoint3DBasics getMinPoint();
/** {@inheritDoc} */
@Override
FixedFramePoint3DBasics getMaxPoint();
/**
* Sets the minimum coordinate of this bounding box.
*
* @param referenceFrame the reference frame in which the given {@code min} is expressed.
* @param min the minimum coordinate for this bounding box. Not modified.
* @throws RuntimeException if any of the minimum coordinates is strictly greater
* than the maximum coordinate on the same axis.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void setMin(ReferenceFrame referenceFrame, Point3DReadOnly min)
{
checkReferenceFrameMatch(referenceFrame);
setMin(min);
}
/**
* Sets the minimum coordinate of this bounding box.
*
* @param min the minimum coordinate for this bounding box. Not modified.
* @throws RuntimeException if any of the minimum coordinates is strictly greater
* than the maximum coordinate on the same axis.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void setMin(FramePoint3DReadOnly min)
{
setMin(min.getReferenceFrame(), min);
}
/**
* Sets the maximum coordinate of this bounding box.
*
* @param referenceFrame the reference frame in which the given {@code max} is expressed.
* @param max the maximum coordinate for this bounding box. Not modified.
* @throws RuntimeException if any of the minimum coordinates is strictly greater
* than the maximum coordinate on the same axis.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void setMax(ReferenceFrame referenceFrame, Point3DReadOnly max)
{
checkReferenceFrameMatch(referenceFrame);
setMax(max);
}
/**
* Sets the maximum coordinate of this bounding box.
*
* @param max the maximum coordinate for this bounding box. Not modified.
* @throws RuntimeException if any of the minimum coordinates is strictly greater
* than the maximum coordinate on the same axis.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void setMax(FramePoint3DReadOnly max)
{
setMax(max.getReferenceFrame(), max);
}
/**
* Redefines this bounding box with new minimum and maximum coordinates.
*
* @param referenceFrame the reference frame in which the given {@code min} and {@code max} are
* expressed.
* @param min the new minimum coordinates for this bounding box. Not modified.
* @param max the new maximum coordinates for this bounding box. Not modified.
* @throws RuntimeException if any of the minimum coordinates is strictly greater
* than the maximum coordinate on the same axis.
* @throws ReferenceFrameMismatchException if the arguments are not expressed in the same reference
* frame as {@code this}.
*/
default void set(ReferenceFrame referenceFrame, Point3DReadOnly min, Point3DReadOnly max)
{
checkReferenceFrameMatch(referenceFrame);
set(min, max);
}
/**
* Redefines this bounding box with new minimum and maximum coordinates.
*
* @param min the new minimum coordinates for this bounding box. Not modified.
* @param max the new maximum coordinates for this bounding box. Not modified.
* @throws RuntimeException if any of the minimum coordinates is strictly greater
* than the maximum coordinate on the same axis.
* @throws ReferenceFrameMismatchException if any of the arguments is not expressed in the same
* reference frame as {@code this}.
*/
default void set(FramePoint3DReadOnly min, FramePoint3DReadOnly max)
{
min.checkReferenceFrameMatch(max);
set(min.getReferenceFrame(), min, max);
}
/**
* Redefines this bounding box given its {@code center} location and half its size along each axis
* {@code halfSize}.
*
* @param referenceFrame the reference frame in which the given {@code center} and {@code halfSize}
* are expressed.
* @param center the new center location of this bounding box. Not modified.
* @param halfSize half the size of this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if the arguments are not expressed in the same reference
* frame as {@code this}.
*/
default void set(ReferenceFrame referenceFrame, Point3DReadOnly center, Vector3DReadOnly halfSize)
{
checkReferenceFrameMatch(referenceFrame);
set(center, halfSize);
}
/**
* Redefines this bounding box given its {@code center} location and half its size along each axis
* {@code halfSize}.
*
* @param center the new center location of this bounding box. Not modified.
* @param halfSize half the size of this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if the frame argument is not expressed in the same
* reference frame as {@code this}.
*/
default void set(FramePoint3DReadOnly center, Vector3DReadOnly halfSize)
{
set(center.getReferenceFrame(), center, halfSize);
}
/**
* Redefines this bounding box given its {@code center} location and half its size along each axis
* {@code halfSize}.
*
* @param center the new center location of this bounding box. Not modified.
* @param halfSize half the size of this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if any of the arguments is not expressed in the same
* reference frame as {@code this}.
*/
default void set(FramePoint3DReadOnly center, FrameVector3DReadOnly halfSize)
{
center.checkReferenceFrameMatch(halfSize);
set(center.getReferenceFrame(), center, halfSize);
}
/**
* Redefines this bounding box to be the same as the given {@code other}.
*
* @param referenceFrame the reference frame in which {@code other} is expressed.
* @param other the bounding box used to redefine this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void set(ReferenceFrame referenceFrame, BoundingBox3DReadOnly other)
{
checkReferenceFrameMatch(referenceFrame);
set(other);
}
/**
* Redefines this bounding box to be the same as the given {@code other}.
*
* @param other the bounding box used to redefine this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void set(FrameBoundingBox3DReadOnly other)
{
set(other.getReferenceFrame(), other);
}
/**
* Combines this bounding box with {@code other} such that it becomes the smallest bounding box
* containing this and {@code other}.
*
* For each coordinates, if it is {@link Double#NaN} for one of the two bounding boxes, then the
* coordinate of the other bounding box is used to update this bounding box. As a result, if for
* instance {@code this} was set to {@link Double#NaN} beforehand, this operation would be
* equivalent to {@code this.set(other}.
*
*
* @param referenceFrame the reference frame in which {@code other} is expressed.
* @param other the other bounding box to combine with this. Not modified.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void combine(ReferenceFrame referenceFrame, BoundingBox3DReadOnly other)
{
checkReferenceFrameMatch(referenceFrame);
combine(other);
}
/**
* Combines this bounding box with {@code other} such that it becomes the smallest bounding box
* containing this and {@code other}.
*
* For each coordinates, if it is {@link Double#NaN} for one of the two bounding boxes, then the
* coordinate of the other bounding box is used to update this bounding box. As a result, if for
* instance {@code this} was set to {@link Double#NaN} beforehand, this operation would be
* equivalent to {@code this.set(other}.
*
*
* @param other the other bounding box to combine with this. Not modified.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void combine(FrameBoundingBox3DReadOnly other)
{
combine(other.getReferenceFrame(), other);
}
/**
* Sets this bounding box to the union of {@code boundingBoxOne} and {@code boundingBoxTwo}.
*
* This bounding box is set such that it is the smallest bounding box containing the two given
* bounding boxes.
*
*
* For each coordinates, if it is {@link Double#NaN} for one of the two bounding boxes, then the
* coordinate of the other bounding box is used to update this bounding box. As a result, if for
* instance {@code boundingBoxOne} was set to {@link Double#NaN} beforehand, this operation would be
* equivalent to {@code this.set(boundingBoxTwo}.
*
*
* @param referenceFrame the reference frame in which the given {@code boundingBoxOne} and
* {@code boundingBoxTwo} are expressed.
* @param boundingBoxOne the first bounding box. Can be the same instance as this. Not modified.
* @param boundingBoxTwo the second bounding box. Can be the same instance as this. Not modified.
* @throws ReferenceFrameMismatchException if the arguments are not expressed in the same reference
* frame as {@code this}.
*/
default void combine(ReferenceFrame referenceFrame, BoundingBox3DReadOnly boundingBoxOne, BoundingBox3DReadOnly boundingBoxTwo)
{
checkReferenceFrameMatch(referenceFrame);
combine(boundingBoxOne, boundingBoxTwo);
}
/**
* Sets this bounding box to the union of {@code boundingBoxOne} and {@code boundingBoxTwo}.
*
* This bounding box is set such that it is the smallest bounding box containing the two given
* bounding boxes.
*
*
* For each coordinates, if it is {@link Double#NaN} for one of the two bounding boxes, then the
* coordinate of the other bounding box is used to update this bounding box. As a result, if for
* instance {@code boundingBoxOne} was set to {@link Double#NaN} beforehand, this operation would be
* equivalent to {@code this.set(boundingBoxTwo}.
*
*
* @param boundingBoxOne the first bounding box. Can be the same instance as this. Not modified.
* @param boundingBoxTwo the second bounding box. Can be the same instance as this. Not modified.
* @throws ReferenceFrameMismatchException if the frame argument is not expressed in the same
* reference frame as {@code this}.
*/
default void combine(FrameBoundingBox3DReadOnly boundingBoxOne, BoundingBox3DReadOnly boundingBoxTwo)
{
combine(boundingBoxOne.getReferenceFrame(), boundingBoxOne, boundingBoxTwo);
}
/**
* Sets this bounding box to the union of {@code boundingBoxOne} and {@code boundingBoxTwo}.
*
* This bounding box is set such that it is the smallest bounding box containing the two given
* bounding boxes.
*
*
* For each coordinates, if it is {@link Double#NaN} for one of the two bounding boxes, then the
* coordinate of the other bounding box is used to update this bounding box. As a result, if for
* instance {@code boundingBoxOne} was set to {@link Double#NaN} beforehand, this operation would be
* equivalent to {@code this.set(boundingBoxTwo}.
*
*
* @param boundingBoxOne the first bounding box. Can be the same instance as this. Not modified.
* @param boundingBoxTwo the second bounding box. Can be the same instance as this. Not modified.
* @throws ReferenceFrameMismatchException if the frame argument is not expressed in the same
* reference frame as {@code this}.
*/
default void combine(BoundingBox3DReadOnly boundingBoxOne, FrameBoundingBox3DReadOnly boundingBoxTwo)
{
combine(boundingBoxTwo.getReferenceFrame(), boundingBoxOne, boundingBoxTwo);
}
/**
* Sets this bounding box to the union of {@code boundingBoxOne} and {@code boundingBoxTwo}.
*
* This bounding box is set such that it is the smallest bounding box containing the two given
* bounding boxes.
*
*
* For each coordinates, if it is {@link Double#NaN} for one of the two bounding boxes, then the
* coordinate of the other bounding box is used to update this bounding box. As a result, if for
* instance {@code boundingBoxOne} was set to {@link Double#NaN} beforehand, this operation would be
* equivalent to {@code this.set(boundingBoxTwo}.
*
*
* @param boundingBoxOne the first bounding box. Can be the same instance as this. Not modified.
* @param boundingBoxTwo the second bounding box. Can be the same instance as this. Not modified.
* @throws ReferenceFrameMismatchException if any of the arguments is not expressed in the same
* reference frame as {@code this}.
*/
default void combine(FrameBoundingBox3DReadOnly boundingBoxOne, FrameBoundingBox3DReadOnly boundingBoxTwo)
{
boundingBoxOne.checkReferenceFrameMatch(boundingBoxTwo);
combine(boundingBoxOne.getReferenceFrame(), boundingBoxOne, boundingBoxTwo);
}
/**
* Updates this bounding box to be the smallest bounding box that includes this and the supplied
* points.
*
* @param referenceFrame the reference frame in which the given {@code vertex3DSupplier} is
* expressed.
* @param vertex3DSupplier the supply of points.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void updateToIncludePoints(ReferenceFrame referenceFrame, Vertex3DSupplier vertex3DSupplier)
{
checkReferenceFrameMatch(referenceFrame);
updateToIncludePoints(vertex3DSupplier);
}
/**
* Updates this bounding box to be the smallest bounding box that includes this and the supplied
* points.
*
* @param vertex3DSupplier the supply of points.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void updateToIncludePoints(FrameVertex3DSupplier vertex3DSupplier)
{
updateToIncludePoints(vertex3DSupplier.getReferenceFrame(), vertex3DSupplier);
}
/**
* Updates this bounding box to be the smallest bounding box that includes this and the given point.
*
* @param referenceFrame the reference frame in which the given {@code point} is expressed.
* @param point the point to be included in this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void updateToIncludePoint(ReferenceFrame referenceFrame, Point3DReadOnly point)
{
checkReferenceFrameMatch(referenceFrame);
updateToIncludePoint(point);
}
/**
* Updates this bounding box to be the smallest bounding box that includes this and the given point.
*
* @param point the point to be included in this bounding box. Not modified.
* @throws ReferenceFrameMismatchException if the argument is not expressed in the same reference
* frame as {@code this}.
*/
default void updateToIncludePoint(FramePoint3DReadOnly point)
{
updateToIncludePoint(point.getReferenceFrame(), point);
}
}
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