us.ihmc.euclid.referenceFrame.interfaces.FixedFrameLineSegment3DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.geometry.interfaces.LineSegment3DBasics;
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 line segment 3D expressed in a constant reference frame, i.e. the
* reference frame of this object cannot be changed via this interface.
*
* A line segment 3D is a finite-length line defined in the XY-plane by its two 3D endpoints.
*
*
* In addition to representing a {@link LineSegment3DBasics}, a {@link ReferenceFrame} is associated
* to a {@code FrameLineSegment3DBasics}. This allows, for instance, to enforce, at runtime, that
* operations on lines occur in the same coordinate system.
*
*
* Because a {@code FrameLineSegment3DBasics} extends {@code LineSegment3DBasics}, it is compatible
* with methods only requiring {@code LineSegment3DBasics}. 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 FrameLineSegment3DBasics}.
*
*/
public interface FixedFrameLineSegment3DBasics extends FrameLineSegment3DReadOnly, LineSegment3DBasics
{
/**
* Gets the reference to the first endpoint of this line segment.
*
* @return the reference to the first endpoint of this line segment.
*/
@Override
FixedFramePoint3DBasics getFirstEndpoint();
/**
* Gets the reference to the second endpoint of this line segment.
*
* @return the reference to the second endpoint of this line segment.
*/
@Override
FixedFramePoint3DBasics getSecondEndpoint();
/**
* Sets this line segment to be same as the given line segment.
*
* @param other the other line segment to copy. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
* the same reference frame.
*/
default void set(FrameLineSegment3DReadOnly other)
{
checkReferenceFrameMatch(other);
LineSegment3DBasics.super.set(other.getFirstEndpoint(), other.getSecondEndpoint());
}
/**
* Sets this line segment to be the same as the given line segment 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(FrameLineSegment3DReadOnly)}.
*
*
* 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 segment to set this to. Not modified.
*/
default void setMatchingFrame(FrameLineSegment3DReadOnly other)
{
LineSegment3DBasics.super.set(other);
other.getReferenceFrame().transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Redefines this line segment with new endpoints.
*
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code firstEndpoint} are not
* expressed in the same reference frame.
*/
default void set(FramePoint3DReadOnly firstEndpoint, Point3DReadOnly secondEndpoint)
{
checkReferenceFrameMatch(firstEndpoint);
LineSegment3DBasics.super.set(firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with new endpoints.
*
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code secondEndpoint} are not
* expressed in the same reference frame.
*/
default void set(Point3DReadOnly firstEndpoint, FramePoint3DReadOnly secondEndpoint)
{
checkReferenceFrameMatch(secondEndpoint);
LineSegment3DBasics.super.set(firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with new endpoints.
*
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
* @throws ReferenceFrameMismatchException if {@code this}, {@code firstEndpoint}, and
* {@code secondEndpoint} are not expressed in the same
* reference frame.
*/
default void set(FramePoint3DReadOnly firstEndpoint, FramePoint3DReadOnly secondEndpoint)
{
checkReferenceFrameMatch(firstEndpoint, secondEndpoint);
LineSegment3DBasics.super.set(firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code firstEndpoint} are not
* expressed in the same reference frame.
*/
default void set(FramePoint3DReadOnly firstEndpoint, Vector3DReadOnly fromFirstToSecondEndpoint)
{
checkReferenceFrameMatch(firstEndpoint);
LineSegment3DBasics.super.set(firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code fromFirstToSecondEndpoint} are
* not expressed in the same reference frame.
*/
default void set(Point3DReadOnly firstEndpoint, FrameVector3DReadOnly fromFirstToSecondEndpoint)
{
checkReferenceFrameMatch(fromFirstToSecondEndpoint);
LineSegment3DBasics.super.set(firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
* @throws ReferenceFrameMismatchException if {@code this}, {@code firstEndpoint}, and
* {@code fromFirstToSecondEndpoint} are not expressed in
* the same reference frame.
*/
default void set(FramePoint3DReadOnly firstEndpoint, FrameVector3DReadOnly fromFirstToSecondEndpoint)
{
checkReferenceFrameMatch(firstEndpoint, fromFirstToSecondEndpoint);
LineSegment3DBasics.super.set(firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Translates this line segment by the given (x, y, z) contained in {@code translation}.
*
* Note that the length and direction of this line segment remains unchanged.
*
*
* @param translation the translation to add to each endpoint of this line segment. Not modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code translation} are not expressed
* in the same reference frame.
*/
default void translate(FrameTuple3DReadOnly translation)
{
checkReferenceFrameMatch(translation);
LineSegment3DBasics.super.translate(translation);
}
}
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