us.ihmc.euclid.referenceFrame.interfaces.FixedFrameConvexPolygon2DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.exceptions.NotAMatrix2DException;
import us.ihmc.euclid.geometry.interfaces.ConvexPolygon2DBasics;
import us.ihmc.euclid.geometry.interfaces.Vertex2DSupplier;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly;
import us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
/**
* Write and read interface for a convex polygon defined in the XY-plane and that is expressed in a
* constant reference frame, i.e. the reference frame of this object cannot be changed via this
* interface.
*
* This implementation of convex polygon is designed for garbage free operations.
*
*
* @author Sylvain Bertrand
*/
public interface FixedFrameConvexPolygon2DBasics extends FrameConvexPolygon2DReadOnly, ConvexPolygon2DBasics
{
/**
* Gets the reference to the {@code index}th vertex of this polygon.
*
* @param index the index of the vertex in the clockwise ordered list.
* @return the reference to the vertex.
* @see #getVertexUnsafe(int)
*/
@Override
FixedFramePoint2DBasics getVertexUnsafe(int index);
/**
* Add a vertex to this polygon.
*
* @param referenceFrame the reference frame in which the given vertex is expressed.
* @param x the x-coordinate of the new vertex.
* @param y the y-coordinate of the new vertex.
* @throws ReferenceFrameMismatchException if {@code referenceFrame} and
* {@code this.getReferenceFrame()} are not the same.
* @see #addVertex(double, double)
*/
default void addVertex(ReferenceFrame referenceFrame, double x, double y)
{
checkReferenceFrameMatch(referenceFrame);
addVertex(x, y);
}
/**
* Add a vertex to this polygon.
*
* @param referenceFrame the reference frame in which the given {@code vertex} is expressed.
* @param vertex the new vertex. Not modified.
* @throws ReferenceFrameMismatchException if {@code referenceFrame} and
* {@code this.getReferenceFrame()} are not the same.
* @see #addVertex(Point2DReadOnly)
*/
default void addVertex(ReferenceFrame referenceFrame, Point2DReadOnly vertex)
{
checkReferenceFrameMatch(referenceFrame);
addVertex(vertex);
}
/**
* Add a vertex to this polygon.
*
* If {@code vertex} is expressed in the frame as {@code this}, then this method is equivalent to
* {@link #addVertex(Point2DReadOnly)}.
*
*
* If {@code vertex} is expressed in a different frame than {@code this}, then the {@code vertex} is
* added once transformed to be expressed in {@code this.getReferenceFrame()}.
*
*
* @param referenceFrame the reference frame in which the given {@code vertex} is
* expressed.
* @param vertex the new vertex. Not modified.
* @param checkIfTransformInXYPlane whether this method should assert that the rotation part of the
* transform from the vertex's frame to this frame represents a
* transformation in the XY plane.
* @throws NotAMatrix2DException if {@code checkIfTransformInXYPlane == true} and the rotation part
* of the transform is not a transformation in the XY plane.
* @see #addVertex(Point2DReadOnly)
*/
void addVertexMatchingFrame(ReferenceFrame referenceFrame, Point2DReadOnly vertex, boolean checkIfTransformInXYPlane);
/**
* Add a vertex to this polygon using only the x and y coordinates of the given {@code vertex}.
*
* @param referenceFrame the reference frame in which the given {@code vertex} is expressed.
* @param vertex the new vertex. Not modified.
* @throws ReferenceFrameMismatchException if {@code referenceFrame} and
* {@code this.getReferenceFrame()} are not the same.
* @see #addVertex(Point3DReadOnly)
*/
default void addVertex(ReferenceFrame referenceFrame, Point3DReadOnly vertex)
{
checkReferenceFrameMatch(referenceFrame);
addVertex(vertex);
}
/**
* Add a vertex to this polygon.
*
* If {@code vertex} is expressed in the frame as {@code this}, then this method is equivalent to
* {@link #addVertex(Point2DReadOnly)}.
*
*
* If {@code vertex} is expressed in a different frame than {@code this}, then the {@code vertex} is
* added once transformed to be expressed in {@code this.getReferenceFrame()}.
*
*
* @param referenceFrame the reference frame in which the given {@code vertex} is expressed.
* @param vertex the new vertex. Not modified.
* @see #addVertex(Point3DReadOnly)
*/
void addVertexMatchingFrame(ReferenceFrame referenceFrame, Point3DReadOnly vertex);
/**
* Add a vertex to this polygon.
*
* @param vertex the new vertex. Not modified.
* @throws ReferenceFrameMismatchException if {@code vertex} and {@code this} are not expressed in
* the same reference frame.
* @see #addVertex(Point2DReadOnly)
*/
default void addVertex(FramePoint2DReadOnly vertex)
{
checkReferenceFrameMatch(vertex);
ConvexPolygon2DBasics.super.addVertex(vertex);
}
/**
* Add a vertex to this polygon.
*
* If {@code vertex} is expressed in the frame as {@code this}, then this method is equivalent to
* {@link #addVertex(Point2DReadOnly)}.
*
*
* If {@code vertex} is expressed in a different frame than {@code this}, then the {@code vertex} is
* added once transformed to be expressed in {@code this.getReferenceFrame()}.
*
*
* @param vertex the new vertex. Not modified.
* @param checkIfTransformInXYPlane whether this method should assert that the rotation part of the
* transform from the vertex's frame to this frame represents a
* transformation in the XY plane.
* @see #addVertexMatchingFrame(ReferenceFrame, Point2DReadOnly, boolean)
* @see #addVertex(Point2DReadOnly)
*/
default void addVertexMatchingFrame(FramePoint2DReadOnly vertex, boolean checkIfTransformInXYPlane)
{
addVertexMatchingFrame(vertex.getReferenceFrame(), vertex, checkIfTransformInXYPlane);
}
/**
* 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.
* @throws ReferenceFrameMismatchException if {@code vertex} and {@code this} are not expressed in
* the same reference frame.
* @see #addVertex(Point3DReadOnly)
*/
default void addVertex(FramePoint3DReadOnly vertex)
{
checkReferenceFrameMatch(vertex);
ConvexPolygon2DBasics.super.addVertex(vertex);
}
/**
* 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);
}
/**
* Adds the vertices from the given vertex supplier.
*
* Note that this polygon is marked as being out-of-date. The method {@link #update()} has to be
* called afterward before being able to perform operations with this polygon.
*
*
* @param frameVertex2DSupplier the supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the given {@code vertices} is a
* {@code FramePoint2DReadOnly} and is not expressed in the
* same reference frame as {@code this}.
* @see FrameVertex2DSupplier
* @see #addVertex(FramePoint2DReadOnly)
*/
default void addVertices(FrameVertex2DSupplier frameVertex2DSupplier)
{
for (int index = 0; index < frameVertex2DSupplier.getNumberOfVertices(); index++)
{
addVertex(frameVertex2DSupplier.getVertex(index));
}
}
/**
* Adds the vertices from the given vertex supplier.
*
* Note that this polygon is marked as being out-of-date. The method {@link #update()} has to be
* called afterward before being able to perform operations with this polygon.
*
*
* @param frameVertex2DSupplier the supplier of vertices.
* @param checkIfTransformInXYPlane whether this method should assert that the rotation part of the
* transform from the vertex's frame to this frame represents a
* transformation in the XY plane.
* @see FrameVertex2DSupplier
* @see #addVertexMatchingFrame(FramePoint2DReadOnly, boolean)
*/
default void addVerticesMatchingFrame(FrameVertex2DSupplier frameVertex2DSupplier, boolean checkIfTransformInXYPlane)
{
for (int index = 0; index < frameVertex2DSupplier.getNumberOfVertices(); index++)
{
addVertexMatchingFrame(frameVertex2DSupplier.getVertex(index), checkIfTransformInXYPlane);
}
}
/**
* Adds the vertices from the given vertex supplier.
*
* Note that this polygon is marked as being out-of-date. The method {@link #update()} has to be
* called afterward before being able to perform operations with this polygon.
*
*
* Only the x and y coordinates of each vertex is used to add a vertex to this polygon.
*
*
* @param frameVertex3DSupplier the supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the given {@code vertices} is a
* {@code FramePoint3DReadOnly} and is not expressed in the
* same reference frame as {@code this}.
* @see FrameVertex3DSupplier
* @see #addVertex(FramePoint3DReadOnly)
*/
default void addVertices(FrameVertex3DSupplier frameVertex3DSupplier)
{
for (int index = 0; index < frameVertex3DSupplier.getNumberOfVertices(); index++)
{
addVertex(frameVertex3DSupplier.getVertex(index));
}
}
/**
* Adds the vertices from the given vertex supplier.
*
* Note that this polygon is marked as being out-of-date. The method {@link #update()} has to be
* called afterward before being able to perform operations with this polygon.
*
*
* @param frameVertex3DSupplier the supplier of vertices.
* @see FrameVertex3DSupplier
* @see #addVertexMatchingFrame(FramePoint3DReadOnly)
*/
default void addVerticesMatchingFrame(FrameVertex3DSupplier frameVertex3DSupplier)
{
for (int index = 0; index < frameVertex3DSupplier.getNumberOfVertices(); index++)
{
addVertexMatchingFrame(frameVertex3DSupplier.getVertex(index));
}
}
/**
* This method does:
*
* - {@link #clear()}.
*
- {@link #addVertices(FrameVertex2DSupplier)}.
*
- {@link #update()}.
*
*
* @param frameVertex2DSupplier the supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the given {@code vertices} is a
* {@code FramePoint2DReadOnly} and is not expressed in the
* same reference frame as {@code this}.
* @see FrameVertex2DSupplier
* @see #addVertices(FrameVertex2DSupplier)
*/
default void set(FrameVertex2DSupplier frameVertex2DSupplier)
{
clear();
addVertices(frameVertex2DSupplier);
update();
}
/**
* This method does:
*
* - {@link #clear()}.
*
- {@link #addVerticesMatchingFrame(FrameVertex2DSupplier, boolean)}.
*
- {@link #update()}.
*
*
* @param frameVertex2DSupplier the supplier of vertices.
* @param checkIfTransformInXYPlane whether this method should assert that the rotation part of the
* transform from the vertex's frame to this frame represents a
* transformation in the XY plane.
* @see FrameVertex2DSupplier
* @see #addVerticesMatchingFrame(FrameVertex2DSupplier, boolean)
*/
default void setMatchingFrame(FrameVertex2DSupplier frameVertex2DSupplier, boolean checkIfTransformInXYPlane)
{
clear();
addVerticesMatchingFrame(frameVertex2DSupplier, checkIfTransformInXYPlane);
update();
}
/**
* This method does:
*
* - {@link #clear()}.
*
- {@link #addVertices(FrameVertex3DSupplier)}.
*
- {@link #update()}.
*
*
* @param frameVertex3DSupplier the supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the given {@code vertices} is a
* {@code FramePoint3DReadOnly} and is not expressed in the
* same reference frame as {@code this}.
* @see FrameVertex3DSupplier
* @see #addVertices(FrameVertex3DSupplier)
*/
default void set(FrameVertex3DSupplier frameVertex3DSupplier)
{
clear();
addVertices(frameVertex3DSupplier);
update();
}
/**
* This method does:
*
* - {@link #clear()}.
*
- {@link #addVertices(FrameVertex3DSupplier)}.
*
- {@link #update()}.
*
*
* @param frameVertex3DSupplier the supplier of vertices.
* @see FrameVertex3DSupplier
* @see #addVerticesMatchingFrame(FrameVertex3DSupplier)
*/
default void setMatchingFrame(FrameVertex3DSupplier frameVertex3DSupplier)
{
clear();
addVerticesMatchingFrame(frameVertex3DSupplier);
update();
}
/**
* Sets this polygon such that it represents the smallest convex hull that contains both polygons.
*
* Note that the resulting polygon is ready to be used for any operations, no need to call
* {@link #update()}.
*
*
* @param firstVertex2DSupplier the first supplier of vertices.
* @param secondVertex2DSupplier the second supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the vertices provided by
* {@code firstVertexSupplier} and
* {@code secondVertexSupplier} are not expressed in the
* same reference frame as {@code this}.
* @see FrameVertex2DSupplier
* @see #addVertices(FrameVertex2DSupplier)
*/
default void set(FrameVertex2DSupplier firstVertex2DSupplier, FrameVertex2DSupplier secondVertex2DSupplier)
{
clear();
addVertices(firstVertex2DSupplier);
addVertices(secondVertex2DSupplier);
update();
}
/**
* Sets this polygon such that it represents the smallest convex hull that contains both polygons.
*
* Note that the resulting polygon is ready to be used for any operations, no need to call
* {@link #update()}.
*
*
* @param firstVertex2DSupplier the first supplier of vertices.
* @param secondVertex2DSupplier the second supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the vertices provided by
* {@code firstVertexSupplier} are not expressed in the same
* reference frame as {@code this}.
* @see FrameVertex2DSupplier
* @see #addVertices(FrameVertex2DSupplier)
*/
default void set(FrameVertex2DSupplier firstVertex2DSupplier, Vertex2DSupplier secondVertex2DSupplier)
{
clear();
addVertices(firstVertex2DSupplier);
addVertices(secondVertex2DSupplier);
update();
}
/**
* Sets this polygon such that it represents the smallest convex hull that contains both polygons.
*
* Note that the resulting polygon is ready to be used for any operations, no need to call
* {@link #update()}.
*
*
* @param firstVertex2DSupplier the first supplier of vertices.
* @param secondVertex2DSupplier the second supplier of vertices.
* @throws ReferenceFrameMismatchException if any of the vertices provided by
* {@code secondVertexSupplier} are not expressed in the
* same reference frame as {@code this}.
* @see FrameVertex2DSupplier
* @see #addVertices(FrameVertex2DSupplier)
*/
default void set(Vertex2DSupplier firstVertex2DSupplier, FrameVertex2DSupplier secondVertex2DSupplier)
{
clear();
addVertices(firstVertex2DSupplier);
addVertices(secondVertex2DSupplier);
update();
}
/**
* Scale this convex polygon about {@code pointToScaleAbout}.
*
* @param pointToScaleAbout the center of the scale transformation. Not modified.
* @param scaleFactor the scale factor to apply to this polygon. A value of {@code 1.0} does
* nothing.
* @throws ReferenceFrameMismatchException if {@code pointToScaleAbout} and {@code this} are not
* expressed in the same reference frame.
* @see #scale(Point2DReadOnly, double)
*/
default void scale(FramePoint2DReadOnly pointToScaleAbout, double scaleFactor)
{
checkReferenceFrameMatch(pointToScaleAbout);
ConvexPolygon2DBasics.super.scale(pointToScaleAbout, scaleFactor);
}
/**
* Translates this polygon.
*
* @param translation the translation to apply to this polygon's vertices. Not modified.
* @throws ReferenceFrameMismatchException if {@code translation} and {@code this} are not expressed
* in the same reference frame.
* @see #translate(Tuple2DReadOnly)
*/
default void translate(FrameTuple2DReadOnly translation)
{
checkReferenceFrameMatch(translation);
ConvexPolygon2DBasics.super.translate(translation);
}
}
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