us.ihmc.euclid.referenceFrame.interfaces.FixedFrameLine3DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
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.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.tuple2D.interfaces.Point2DReadOnly;
import us.ihmc.euclid.tuple2D.interfaces.Vector2DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
/**
* Write and read interface for a line 3D expressed in a constant reference frame, i.e. the
* reference frame of this object cannot be changed via this interface.
*
* A line 3D represents an infinitely long line in the XY-plane and defined by a point and a
* direction.
*
*
* In addition to representing a {@link Line3DBasics}, a {@link ReferenceFrame} is associated to a
* {@code FixedFrameLine3DBasics}. This allows, for instance, to enforce, at runtime, that
* operations on lines occur in the same coordinate system.
*
*
* Because a {@code FixedFrameLine3DBasics} 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 FixedFrameLine3DBasics}.
*
*/
public interface FixedFrameLine3DBasics extends FrameLine3DReadOnly, Line3DBasics
{
/** {@inheritDoc} */
@Override
FixedFramePoint3DBasics getPoint();
/** {@inheritDoc} */
@Override
FixedFrameUnitVector3DBasics getDirection();
/**
* Sets this line to be the same as the given line.
*
* After calling this method this line is in the XY-plane.
*
*
* @param referenceFrame the reference frame in which the given line is expressed.
* @param line2DReadOnly the line to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, Line2DReadOnly line2DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(line2DReadOnly);
}
/**
* Sets this line to be the same as the given line.
*
* @param referenceFrame the reference frame in which the given line is expressed.
* @param line3DReadOnly the line to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, Line3DReadOnly line3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(line3DReadOnly);
}
/**
* Sets this line to go through the endpoints of the given line segment.
*
* After calling this method this line is in the XY-plane.
*
*
* @param referenceFrame the reference frame in which the given line segment is expressed.
* @param lineSegment2DReadOnly the line segment to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, LineSegment2DReadOnly lineSegment2DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(lineSegment2DReadOnly);
}
/**
* Sets this line to go through the endpoints of the given line segment.
*
* @param referenceFrame the reference frame in which the given line segment is expressed.
* @param lineSegment3DReadOnly the line segment to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, LineSegment3DReadOnly lineSegment3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(lineSegment3DReadOnly);
}
/**
* Redefines this line with a new point and a new direction vector.
*
* After calling this method this line is in the XY-plane.
*
*
* @param referenceFrame the reference frame in which the given arguments are expressed.
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, Point2DReadOnly pointOnLine, Vector2DReadOnly lineDirection)
{
checkReferenceFrameMatch(referenceFrame);
set(pointOnLine, lineDirection);
}
/**
* Redefines this line with a new point and a new direction vector.
*
* @param referenceFrame the reference frame in which the given arguments are expressed.
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, Point3DReadOnly pointOnLine, Vector3DReadOnly lineDirection)
{
checkReferenceFrameMatch(referenceFrame);
set(pointOnLine, lineDirection);
}
/**
* Redefines this line such that it goes through the two given points.
*
* After calling this method this line is in the XY-plane.
*
*
* @param referenceFrame the reference frame in which the given arguments are expressed.
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, Point2DReadOnly firstPointOnLine, Point2DReadOnly secondPointOnLine)
{
checkReferenceFrameMatch(referenceFrame);
set(firstPointOnLine, secondPointOnLine);
}
/**
* Redefines this line such that it goes through the two given points.
*
* @param referenceFrame the reference frame in which the given arguments are expressed.
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.getReferenceFrame()} and
* {@code referenceFrame} are not the same reference frame.
*/
default void set(ReferenceFrame referenceFrame, Point3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine)
{
checkReferenceFrameMatch(referenceFrame);
set(firstPointOnLine, secondPointOnLine);
}
/**
* Sets this line to be the same as the given line.
*
* After calling this method this line is in the XY-plane.
*
*
* @param referenceFrame the reference frame in which the given line is expressed.
* @param frameLine2DReadOnly the line to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code frameLine2DReadOnly} are not
* expressed in the same reference frame.
*/
default void set(FrameLine2DReadOnly frameLine2DReadOnly)
{
set(frameLine2DReadOnly.getReferenceFrame(), frameLine2DReadOnly);
}
/**
* Sets this line to be the same as the given line.
*
* @param referenceFrame the reference frame in which the given line is expressed.
* @param other the line to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
* the same reference frame.
*/
default void set(FrameLine3DReadOnly other)
{
set(other.getReferenceFrame(), other);
}
/**
* Sets this line to be the same as the given line expressed in the reference frame of this.
*
* If {@code other} is expressed in the frame as {@code this}, then this method is equivalent to
* {@link #set(FrameLine3DReadOnly)}.
*
*
* If {@code other} is expressed in a different frame than {@code this}, then {@code this} is set to
* {@code other} and then transformed to be expressed in {@code this.getReferenceFrame()}.
*
*
* @param other the other frame line to set this to. Not modified.
*/
default void setMatchingFrame(FrameLine3DReadOnly other)
{
Line3DBasics.super.set(other);
other.getReferenceFrame().transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Sets this line from the given {@code frameLineSegment2DReadOnly}.
*
* After calling this method this line is in the XY-plane.
*
*
* @param frameLineSegment2DReadOnly the line segment to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code frameLineSegment2DReadOnly}
* are not expressed in the same reference frame.
*/
default void set(FrameLineSegment2DReadOnly frameLineSegment2DReadOnly)
{
set(frameLineSegment2DReadOnly.getReferenceFrame(), frameLineSegment2DReadOnly);
}
/**
* Sets this line from the given {@code frameLineSegment3DReadOnly}.
*
* @param frameLineSegment3DReadOnly the line segment to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code frameLineSegment3DReadOnly}
* are not expressed in the same reference frame.
*/
default void set(FrameLineSegment3DReadOnly frameLineSegment3DReadOnly)
{
set(frameLineSegment3DReadOnly.getReferenceFrame(), frameLineSegment3DReadOnly);
}
/**
* Redefines this line with a new point and a new direction vector.
*
* After calling this method this line is in the XY-plane.
*
*
* @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 lineDirection} are not
* expressed in the same reference frame.
*/
default void set(Point2DReadOnly pointOnLine, FrameVector2DReadOnly lineDirection)
{
set(lineDirection.getReferenceFrame(), pointOnLine, lineDirection);
}
/**
* Redefines this line with a new point and a new direction vector.
*
* After calling this method this line is in the XY-plane.
*
*
* @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(FramePoint2DReadOnly pointOnLine, Vector2DReadOnly lineDirection)
{
set(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection);
}
/**
* Redefines this line with a new point and a new direction vector.
*
* After calling this method this line is in the XY-plane.
*
*
* @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(FramePoint2DReadOnly pointOnLine, FrameVector2DReadOnly lineDirection)
{
pointOnLine.checkReferenceFrameMatch(lineDirection);
set(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection);
}
/**
* 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 lineDirection} are not
* expressed in the same reference frame.
*/
default void set(Point3DReadOnly pointOnLine, FrameVector3DReadOnly lineDirection)
{
set(lineDirection.getReferenceFrame(), pointOnLine, lineDirection);
}
/**
* 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 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);
}
/**
* Redefines this line such that it goes through the two given points.
*
* After calling this method this line is in the XY-plane.
*
*
* @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(Point2DReadOnly firstPointOnLine, FramePoint2DReadOnly secondPointOnLine)
{
set(secondPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine);
}
/**
* Redefines this line such that it goes through the two given points.
*
* After calling this method this line is in the XY-plane.
*
*
* @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(FramePoint2DReadOnly firstPointOnLine, Point2DReadOnly secondPointOnLine)
{
set(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine);
}
/**
* Redefines this line such that it goes through the two given points.
*
* After calling this method this line is in the XY-plane.
*
*
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code this}, {@code firstPointOnLine},
* {@code secondPointOnLine} are not expressed in the same
* reference frame.
*/
default void set(FramePoint2DReadOnly firstPointOnLine, FramePoint2DReadOnly secondPointOnLine)
{
firstPointOnLine.checkReferenceFrameMatch(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);
}
/**
* 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(FramePoint3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine)
{
firstPointOnLine.checkReferenceFrameMatch(secondPointOnLine);
set(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine);
}
}
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