us.ihmc.euclid.referenceFrame.interfaces.FixedFrameOrientation2DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.orientation.interfaces.Orientation2DBasics;
import us.ihmc.euclid.orientation.interfaces.Orientation2DReadOnly;
import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
/**
* Write and read interface for a 2D orientation that is expressed in a constant reference frame,
* i.e. the reference frame of this object cannot be changed via this interface.
*
* A 2D orientation is in the XY-plane, i.e. the yaw angle about the z-axis.
*
*
* @author Sylvain Bertrand
*/
public interface FixedFrameOrientation2DBasics extends FrameOrientation2DReadOnly, Orientation2DBasics
{
/**
* Sets this orientation 2D to represent the orientation 2D from {@code this.getReferenceFrame()} to
* the given {@code referenceFrame}.
*
* @param referenceFrame the reference frame of interest.
*/
default void setFromReferenceFrame(ReferenceFrame referenceFrame)
{
setToZero();
referenceFrame.transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Sets this frame orientation to {@code orientation2DReadOnly} and checks that its current frame
* equals {@code referenceFrame}.
*
* @param referenceFrame the coordinate system in which the given
* {@code orientation2DReadOnly} is expressed.
* @param orientation2DReadOnly the orientation 2D to copy the value from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void set(ReferenceFrame referenceFrame, Orientation2DReadOnly orientation2DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(orientation2DReadOnly);
}
/**
* Sets this frame orientation to the yaw angle of the given {@code orientationReadOnly} and checks
* that its current frame equals {@code referenceFrame}.
*
* @param referenceFrame the coordinate system in which the given
* {@code orientation3DReadOnly} is expressed.
* @param orientation3DReadOnly the orientation to get the yaw angle from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void set(ReferenceFrame referenceFrame, Orientation3DReadOnly orientation3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(orientation3DReadOnly);
}
/**
* Sets this orientation 2D to the {@code other} orientation 2D.
*
* @param other the other orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void set(FrameOrientation2DReadOnly other)
{
checkReferenceFrameMatch(other);
Orientation2DBasics.super.set(other);
}
/**
* Sets this orientation to be the same as the given one 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(FrameOrientation2DReadOnly)}.
*
*
* 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 orientation 2D to set this to. Not modified.
*/
default void setMatchingFrame(FrameOrientation2DReadOnly other)
{
Orientation2DBasics.super.set(other);
other.getReferenceFrame().transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Sets this orientation 2D to the yaw angle of the given {@code frameOrientation3DReadOnly}.
*
* @param frameOrientation3DReadOnly the orientation to get the yaw angle from. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameOrientation3DReadOnly} is not expressed in
* the same frame as {@code this}.
*/
default void set(FrameOrientation3DReadOnly frameOrientation3DReadOnly)
{
checkReferenceFrameMatch(frameOrientation3DReadOnly);
Orientation2DBasics.super.set(frameOrientation3DReadOnly);
}
/**
* Adds the other orientation 2D to this:
* {@code this += other}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param other the other orientation 2D to add to this. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void add(FrameOrientation2DReadOnly other)
{
checkReferenceFrameMatch(other);
Orientation2DBasics.super.add(other);
}
/**
* Sets this orientation 2D to the sum of the two given orientation 2Ds:
* {@code this = orientation1 + orientation2}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param orientation1 the first orientation 2D. Not modified.
* @param orientation2 the second orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code orientation1} is not expressed in the same
* frame as {@code this}.
*/
default void add(FrameOrientation2DReadOnly orientation1, Orientation2DReadOnly orientation2)
{
checkReferenceFrameMatch(orientation1);
Orientation2DBasics.super.add(orientation1, orientation2);
}
/**
* Sets this orientation 2D to the sum of the two given orientation 2Ds:
* {@code this = orientation1 + orientation2}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param orientation1 the first orientation 2D. Not modified.
* @param orientation2 the second orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code orientation2} is not expressed in the same
* frame as {@code this}.
*/
default void add(Orientation2DReadOnly orientation1, FrameOrientation2DReadOnly orientation2)
{
checkReferenceFrameMatch(orientation2);
Orientation2DBasics.super.add(orientation1, orientation2);
}
/**
* Sets this orientation 2D to the sum of the two given orientation 2Ds:
* {@code this = orientation1 + orientation2}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param orientation1 the first orientation 2D. Not modified.
* @param orientation2 the second orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code this}, {@code orientation1}, and
* {@code orientation2} are not expressed in the same
* reference frame.
*/
default void add(FrameOrientation2DReadOnly orientation1, FrameOrientation2DReadOnly orientation2)
{
checkReferenceFrameMatch(orientation1, orientation2);
Orientation2DBasics.super.add(orientation1, orientation2);
}
/**
* Subtracts the other orientation 2D to this:
* {@code this -= other}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param other the other orientation 2D to add to this. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void sub(FrameOrientation2DReadOnly other)
{
checkReferenceFrameMatch(other);
Orientation2DBasics.super.sub(other);
}
/**
* Sets this orientation 2D to the difference of the two given orientation 2Ds:
* {@code this = orientation1 - orientation2}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param orientation1 the first orientation 2D. Not modified.
* @param orientation2 the second orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code orientation1} is not expressed in the same
* frame as {@code this}.
*/
default void sub(FrameOrientation2DReadOnly orientation1, Orientation2DReadOnly orientation2)
{
checkReferenceFrameMatch(orientation1);
Orientation2DBasics.super.sub(orientation1, orientation2);
}
/**
* Sets this orientation 2D to the difference of the two given orientation 2Ds:
* {@code this = orientation1 - orientation2}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param orientation1 the first orientation 2D. Not modified.
* @param orientation2 the second orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code orientation2} is not expressed in the same
* frame as {@code this}.
*/
default void sub(Orientation2DReadOnly orientation1, FrameOrientation2DReadOnly orientation2)
{
checkReferenceFrameMatch(orientation2);
Orientation2DBasics.super.sub(orientation1, orientation2);
}
/**
* Sets this orientation 2D to the difference of the two given orientation 2Ds:
* {@code this = orientation1 - orientation2}
*
* Note that resulting angle is computed such that it is contained in [-pi, pi].
*
*
* @param orientation1 the first orientation 2D. Not modified.
* @param orientation2 the second orientation 2D. Not modified.
* @throws ReferenceFrameMismatchException if {@code this}, {@code orientation1}, and
* {@code orientation2} are not expressed in the same
* reference frame.
*/
default void sub(FrameOrientation2DReadOnly orientation1, FrameOrientation2DReadOnly orientation2)
{
checkReferenceFrameMatch(orientation1, orientation2);
Orientation2DBasics.super.sub(orientation1, orientation2);
}
/**
* Performs a linear interpolation from {@code this} to {@code other} given the percentage
* {@code alpha}.
*
* this = (1.0 - alpha) * this + alpha * other
*
*
* @param other the other orientation 2D used for the interpolation. Not modified.
* @param alpha the percentage used for the interpolation. A value of 0 will result in not modifying
* {@code this}, while a value of 1 is equivalent to setting {@code this} to
* {@code other}.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void interpolate(FrameOrientation2DReadOnly other, double alpha)
{
checkReferenceFrameMatch(other);
Orientation2DBasics.super.interpolate(other, alpha);
}
/**
* Performs a linear interpolation from {@code orientation1} to {@code orientation2} given the
* percentage {@code alpha}.
*
* this = (1.0 - alpha) * orientation1 + alpha * orientation2
*
*
* @param orientation1 the first orientation 2D used in the interpolation. Not modified.
* @param orientation2 the second orientation 2D used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting {@code this} to {@code orientation1}, while a value of 1 is
* equivalent to setting {@code this} to {@code orientation2}.
* @throws ReferenceFrameMismatchException if {@code orientation1} is not expressed in the same
* frame as {@code this}.
*/
default void interpolate(FrameOrientation2DReadOnly orientation1, Orientation2DReadOnly orientation2, double alpha)
{
checkReferenceFrameMatch(orientation1);
Orientation2DBasics.super.interpolate(orientation1, orientation2, alpha);
}
/**
* Performs a linear interpolation from {@code orientation1} to {@code orientation2} given the
* percentage {@code alpha}.
*
* this = (1.0 - alpha) * orientation1 + alpha * orientation2
*
*
* @param orientation1 the first orientation 2D used in the interpolation. Not modified.
* @param orientation2 the second orientation 2D used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting {@code this} to {@code orientation1}, while a value of 1 is
* equivalent to setting {@code this} to {@code orientation2}.
* @throws ReferenceFrameMismatchException if {@code orientation2} is not expressed in the same
* frame as {@code this}.
*/
default void interpolate(Orientation2DReadOnly orientation1, FrameOrientation2DReadOnly orientation2, double alpha)
{
checkReferenceFrameMatch(orientation2);
Orientation2DBasics.super.interpolate(orientation1, orientation2, alpha);
}
/**
* Performs a linear interpolation from {@code orientation1} to {@code orientation2} given the
* percentage {@code alpha}.
*
* this = (1.0 - alpha) * orientation1 + alpha * orientation2
*
*
* @param orientation1 the first orientation 2D used in the interpolation. Not modified.
* @param orientation2 the second orientation 2D used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting {@code this} to {@code orientation1}, while a value of 1 is
* equivalent to setting {@code this} to {@code orientation2}.
* @throws ReferenceFrameMismatchException if {@code this}, {@code orientation1}, and
* {@code orientation2} are not expressed in the same
* reference frame.
*/
default void interpolate(FrameOrientation2DReadOnly orientation1, FrameOrientation2DReadOnly orientation2, double alpha)
{
checkReferenceFrameMatch(orientation1, orientation2);
Orientation2DBasics.super.interpolate(orientation1, orientation2, alpha);
}
}
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