us.ihmc.euclid.referenceFrame.interfaces.FixedFrameTuple3DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.FrameVector3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.tuple2D.interfaces.Tuple2DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
/**
* {@code FixedFrameTuple3DBasics} is the base implementation for {@link FramePoint3D} and
* {@link FrameVector3D}.
*
* In addition to representing a {@link Tuple3DBasics}, a constant {@link ReferenceFrame} is
* associated to a {@code FixedFrameTuple3DBasics}. This allows, for instance, to enforce, at
* runtime, that operations on tuples occur in the same coordinate system.
*
*
* When using this interface, the reference frame of this tuple is assumed to be immutable, i.e. the
* reference frame of this object cannot be changed via this interface.
*
*
* Because a {@code FixedFrameTuple3DBasics} extends {@code Tuple3DBasics}, it is compatible with
* methods only requiring {@code Tuple3DBasics}. 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 FixedFrameTuple3DBasics}.
*
*/
public interface FixedFrameTuple3DBasics extends FrameTuple3DReadOnly, Tuple3DBasics
{
/**
* Sets the x and y components of this frame tuple with the x and y components of the given
* {@code tuple2DReadOnly}.
*
* The z component remains unchanged.
*
*
* @param referenceFrame the coordinate system in which the given {@code tuple2DReadOnly} is
* expressed.
* @param tuple2DReadOnly the geometry object used to update the geometry object in {@code this}.
* Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void set(ReferenceFrame referenceFrame, Tuple2DReadOnly tuple2DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(tuple2DReadOnly);
}
/**
* Sets the x and y components of this frame tuple with the x and y components of the given
* {@code tuple2DReadOnly} and the z-component to the given {@code z}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple2DReadOnly} is
* expressed.
* @param tuple2DReadOnly the frame tuple to copy the values from. Not modified.
* @param z the new z-coordinate for this tuple.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void set(ReferenceFrame referenceFrame, Tuple2DReadOnly tuple2DReadOnly, double z)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.set(tuple2DReadOnly, z);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and checks that its current frame equal
* {@code referenceFrame}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param tuple3DReadOnly the geometry object used to update the geometry object in {@code this}.
* Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void set(ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
set(tuple3DReadOnly);
}
/**
* Sets this frame tuple components to {@code x}, {@code y}, and {@code z} and checks that its
* current frame equal {@code referenceFrame}.
*
* @param referenceFrame the coordinate system in which the given components ares expressed.
* @param x the new x component.
* @param y the new y component.
* @param z the new z component.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void set(ReferenceFrame referenceFrame, double x, double y, double z)
{
checkReferenceFrameMatch(referenceFrame);
set(x, y, z);
}
/**
* Sets the x and y components of this frame tuple with the x and y components of the given
* {@code frameTuple2DReadOnly}.
*
* The z component remains unchanged.
*
*
* @param frameTuple2DReadOnly the frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void set(FrameTuple2DReadOnly frameTuple2DReadOnly)
{
set(frameTuple2DReadOnly.getReferenceFrame(), frameTuple2DReadOnly);
}
/**
* Sets the x and y components of this frame tuple with the x and y components of the given
* {@code frameTuple2DReadOnly} and the z-component to the given {@code z}.
*
* @param frameTuple2DReadOnly the frame tuple to copy the values from. Not modified.
* @param z the new z-coordinate for this tuple.
* @throws ReferenceFrameMismatchException if {@code frameTuple2DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void set(FrameTuple2DReadOnly frameTuple2DReadOnly, double z)
{
set(frameTuple2DReadOnly.getReferenceFrame(), frameTuple2DReadOnly, z);
}
/**
* Sets this frame tuple to {@code other}.
*
* @param other the other frame tuple to set this to. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void set(FrameTuple3DReadOnly other)
{
set(other.getReferenceFrame(), other);
}
/**
* Sets the x and y components of this frame tuple with the x and y components of the given
* {@code tuple2DReadOnly} and the z-component to the given {@code z}.
*
* If {@code tuple2DReadOnly} is expressed in the frame as {@code this}, then this method is
* equivalent to {@link #set(ReferenceFrame, Tuple2DReadOnly, double)}.
*
*
* If {@code tuple2DReadOnly} is expressed in a different frame than {@code this}, then {@code this}
* is set with {@code tuple2DReadOnly} and {@code z}, and then transformed to be expressed in
* {@code this.getReferenceFrame()}.
*
*
* @param referenceFrame the coordinate system in which the given {@code tuple2DReadOnly} is
* expressed.
* @param tuple2DReadOnly the tuple to copy the values from. Not modified.
* @param z the new z-coordinate for this tuple.
*/
default void setMatchingFrame(ReferenceFrame referenceFrame, Tuple2DReadOnly tuple2DReadOnly, double z)
{
Tuple3DBasics.super.set(tuple2DReadOnly, z);
referenceFrame.transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Sets the x and y components of this frame tuple with the x and y components of the given
* {@code frameTuple2DReadOnly} and the z-component to the given {@code z}.
*
* If {@code frameTuple2DReadOnly} is expressed in the frame as {@code this}, then this method is
* equivalent to {@link #set(FrameTuple2DReadOnly, double)}.
*
*
* If {@code frameTuple2DReadOnly} is expressed in a different frame than {@code this}, then
* {@code this} is set with {@code frameTuple2DReadOnly} and {@code z}, and then transformed to be
* expressed in {@code this.getReferenceFrame()}.
*
*
* @param frameTuple2DReadOnly the frame tuple to copy the values from. Not modified.
* @param z the new z-coordinate for this tuple.
*/
default void setMatchingFrame(FrameTuple2DReadOnly frameTuple2DReadOnly, double z)
{
setMatchingFrame(frameTuple2DReadOnly.getReferenceFrame(), frameTuple2DReadOnly, z);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly}.
*
* If {@code tuple3DReadOnly} is expressed in the frame as {@code this}, then this method is
* equivalent to {@link #set(ReferenceFrame, Tuple3DReadOnly)}.
*
*
* If {@code tuple3DReadOnly} is expressed in a different frame than {@code this}, then {@code this}
* is set to {@code tuple3DReadOnly} once transformed to be expressed in
* {@code this.getReferenceFrame()}.
*
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param tuple3DReadOnly the other tuple to set this to. Not modified.
*/
default void setMatchingFrame(ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
Tuple3DBasics.super.set(tuple3DReadOnly);
referenceFrame.transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Sets this frame tuple to {@code other}.
*
* If {@code other} is expressed in the frame as {@code this}, then this method is equivalent to
* {@link #set(FrameTuple3DReadOnly)}.
*
*
* If {@code other} is expressed in a different frame than {@code this}, then {@code this} is set to
* {@code other} once transformed to be expressed in {@code this.getReferenceFrame()}.
*
*
* @param other the other frame tuple to set this to. Not modified.
*/
default void setMatchingFrame(FrameTuple3DReadOnly other)
{
setMatchingFrame(other.getReferenceFrame(), other);
}
/**
* Sets this frame tuple components to {@code x}, {@code y} and {@code z}.
*
* If the frame of {@code this} is {@code referenceFrame}, then this method is equivalent to
* {@link #set(ReferenceFrame, double, double, double)}.
*
*
* If {@referenceFrame} is different from the frame of {@code this}, then {@code this} components
* are set to {@code x}, {@code y} and {@code z} and then transformed to be expressed in
* {@code this.getReferenceFrame()}.
*
*
* @param referenceFrame the coordinate system in which the given {@code x}, {@code y} and {@code z}
* is expressed.
* @param x the new x-coordinate for this tuple.
* @param y the new y-coordinate for this tuple.
* @param z the new z-coordinate for this tuple.
*/
default void setMatchingFrame(ReferenceFrame referenceFrame, double x, double y, double z)
{
Tuple3DBasics.super.set(x, y, z);
referenceFrame.transformFromThisToDesiredFrame(getReferenceFrame(), this);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and then calls {@link #absolute()}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndAbsolute(ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.setAndAbsolute(tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #absolute()}.
*
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndAbsolute(FrameTuple3DReadOnly other)
{
setAndAbsolute(other.getReferenceFrame(), other);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and then calls {@link #negate()}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndNegate(ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.setAndNegate(tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #negate()}.
*
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndNegate(FrameTuple3DReadOnly other)
{
setAndNegate(other.getReferenceFrame(), other);
}
/**
* Sets this tuple to {@code tuple3DReadOnly} and then calls {@link #normalize()}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndNormalize(ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
setAndNormalize(tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #normalize()}.
*
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndNormalize(FrameTuple3DReadOnly other)
{
setAndNormalize(other.getReferenceFrame(), other);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and then calls {@link #scale(double)}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param scalar the scale factor to use on this frame tuple.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndScale(double scalar, ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.setAndScale(scalar, tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #scale(double)}.
*
* @param scalar the scale factor to use on this frame tuple.
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndScale(double scalar, FrameTuple3DReadOnly other)
{
setAndScale(scalar, other.getReferenceFrame(), other);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and then calls {@link #clipToMax(double)}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param max the maximum value for each component of this frame tuple.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndClipToMax(double max, ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.setAndClipToMax(max, tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #clipToMax(double)}.
*
* @param max the maximum value for each component of this frame tuple.
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndClipToMax(double max, FrameTuple3DReadOnly other)
{
setAndClipToMax(max, other.getReferenceFrame(), other);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and then calls {@link #clipToMin(double)}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param min the minimum value for each component of this frame tuple.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndClipToMin(double min, ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.setAndClipToMin(min, tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #clipToMin(double)}.
*
* @param min the minimum value for each component of this frame tuple.
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndClipToMin(double min, FrameTuple3DReadOnly other)
{
setAndClipToMin(min, other.getReferenceFrame(), other);
}
/**
* Sets this frame tuple to {@code tuple3DReadOnly} and then calls
* {@link #clipToMinMax(double, double)}.
*
* @param referenceFrame the coordinate system in which the given {@code tuple3DReadOnly} is
* expressed.
* @param min the minimum value for each component of this frame tuple.
* @param max the maximum value for each component of this frame tuple.
* @param tuple3DReadOnly the other tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code this.referenceFrame != referenceFrame}.
*/
default void setAndClipToMinMax(double min, double max, ReferenceFrame referenceFrame, Tuple3DReadOnly tuple3DReadOnly)
{
checkReferenceFrameMatch(referenceFrame);
Tuple3DBasics.super.setAndClipToMinMax(min, max, tuple3DReadOnly);
}
/**
* Sets this frame tuple to {@code other} and then calls {@link #clipToMinMax(double, double)}.
*
* @param min the minimum value for each component of this frame tuple.
* @param max the maximum value for each component of this frame tuple.
* @param other the other frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void setAndClipToMinMax(double min, double max, FrameTuple3DReadOnly other)
{
setAndClipToMinMax(min, max, other.getReferenceFrame(), other);
}
/**
* Adds the given frame tuple to this frame tuple.
*
* this = this + other
*
*
* @param other the other frame tuple to add to this tuple. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void add(FrameTuple3DReadOnly other)
{
checkReferenceFrameMatch(other);
Tuple3DBasics.super.add(other);
}
/**
* Sets this frame tuple to the sum of the two given frame tuples.
*
* this = frameTuple1 + frameTuple2
*
*
* @param frameTuple1 the first frame tuple to sum. Not modified.
* @param frameTuple2 the second frame tuple to sum. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void add(FrameTuple3DReadOnly frameTuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Tuple3DBasics.super.add(frameTuple1, frameTuple2);
}
/**
* Sets this frame tuple to the sum of the two given tuples.
*
* this = frameTuple1 + tuple2
*
*
* @param frameTuple1 the first frame tuple to sum. Not modified.
* @param tuple2 the second tuple to sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void add(FrameTuple3DReadOnly frameTuple1, Tuple3DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Tuple3DBasics.super.add(frameTuple1, tuple2);
}
/**
* Sets this frame tuple to the sum of the two given tuples.
*
* this = tuple1 + frameTuple2
*
*
* @param tuple1 the first tuple to sum. Not modified.
* @param frameTuple2 the second frame tuple to sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void add(Tuple3DReadOnly tuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Tuple3DBasics.super.add(tuple1, frameTuple2);
}
/**
* Subtracts the given frame tuple to this frame tuple.
*
* this = this - other
*
*
* @param other the other frame tuple to subtract to this tuple. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void sub(FrameTuple3DReadOnly other)
{
checkReferenceFrameMatch(other);
Tuple3DBasics.super.sub(other);
}
/**
* Sets this frame tuple to the difference of the two given frame tuples.
*
* this = frameTuple1 - frameTuple2
*
*
* @param frameTuple1 the first frame tuple. Not modified.
* @param frameTuple2 the second frame tuple to subtract to {@code frameTuple1}. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void sub(FrameTuple3DReadOnly frameTuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Tuple3DBasics.super.sub(frameTuple1, frameTuple2);
}
/**
* Sets this frame tuple to the difference of the two given tuples.
*
* this = tuple1 - frameTuple2
*
*
* @param tuple1 the first tuple. Not modified.
* @param frameTuple2 the second frame tuple to subtract to {@code frameTuple1}. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void sub(Tuple3DReadOnly tuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Tuple3DBasics.super.sub(tuple1, frameTuple2);
}
/**
* Sets this frame tuple to the difference of the two given tuples.
*
* this = frameTuple1 - tuple2
*
*
* @param frameTuple1 the first frame tuple. Not modified.
* @param tuple2 the second tuple to subtract to {@code frameTuple1}. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void sub(FrameTuple3DReadOnly frameTuple1, Tuple3DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Tuple3DBasics.super.sub(frameTuple1, tuple2);
}
/**
* Scales this frame tuple and adds {@code other}.
*
* this = scalar * this + other
*
*
* @param scalar the scale factor to use.
* @param other the frame tuple to add to this. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void scaleAdd(double scalar, FrameTuple3DReadOnly other)
{
checkReferenceFrameMatch(other);
Tuple3DBasics.super.scaleAdd(scalar, other);
}
/**
* Sets this frame tuple to the sum of {@code frameTuple1} scaled and {@code frameTuple2}.
*
* this = scalar * frameTuple1 + frameTuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the sum. Not modified.
* @param frameTuple2 the second frame tuple of the sum. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void scaleAdd(double scalar, FrameTuple3DReadOnly frameTuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Tuple3DBasics.super.scaleAdd(scalar, frameTuple1, frameTuple2);
}
/**
* Sets this frame tuple to the sum of {@code tuple1} scaled and {@code frameTuple2}.
*
* this = scalar * tuple1 + frameTuple2
*
*
* @param scalar the scale factor to use on {@code tuple1}.
* @param tuple1 the first tuple of the sum. Not modified.
* @param frameTuple2 the second frame tuple of the sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void scaleAdd(double scalar, Tuple3DReadOnly tuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Tuple3DBasics.super.scaleAdd(scalar, tuple1, frameTuple2);
}
/**
* Sets this frame tuple to the sum of {@code frameTuple1} scaled and {@code tuple2}.
*
* this = scalar * frameTuple1 + tuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the sum. Not modified.
* @param tuple2 the second tuple of the sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void scaleAdd(double scalar, FrameTuple3DReadOnly frameTuple1, Tuple3DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Tuple3DBasics.super.scaleAdd(scalar, frameTuple1, tuple2);
}
/**
* Scales this frame tuple and subtracts {@code other}.
*
* this = scalar * this - other
*
*
* @param scalar the scale factor to use.
* @param other the frame tuple to add to this. Not modified.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void scaleSub(double scalar, FrameTuple3DReadOnly other)
{
checkReferenceFrameMatch(other);
Tuple3DBasics.super.scaleSub(scalar, other);
}
/**
* Sets this frame tuple to the difference of {@code frameTuple1} scaled and {@code frameTuple2}.
*
* this = scalar * frameTuple1 - frameTuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the difference. Not modified.
* @param frameTuple2 the second frame tuple of the difference. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void scaleSub(double scalar, FrameTuple3DReadOnly frameTuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Tuple3DBasics.super.scaleSub(scalar, frameTuple1, frameTuple2);
}
/**
* Sets this frame tuple to the difference of {@code tuple1} scaled and {@code frameTuple2}.
*
* this = scalar * tuple1 - frameTuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param tuple1 the first tuple of the difference. Not modified.
* @param frameTuple2 the second frame tuple of the difference. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void scaleSub(double scalar, Tuple3DReadOnly tuple1, FrameTuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Tuple3DBasics.super.scaleSub(scalar, tuple1, frameTuple2);
}
/**
* Sets this frame tuple to the difference of {@code frameTuple1} scaled and {@code tuple2}.
*
* this = scalar * frameTuple1 - tuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the difference. Not modified.
* @param frameTuple2 the second tuple of the difference. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void scaleSub(double scalar, FrameTuple3DReadOnly frameTuple1, Tuple3DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1);
Tuple3DBasics.super.scaleSub(scalar, frameTuple1, frameTuple2);
}
/**
* Performs a linear interpolation from this frame tuple to {@code other} given the percentage
* {@code alpha}.
*
* this = (1.0 - alpha) * this + alpha * other
*
*
* @param other the other frame tuple used for the interpolation. Not modified.
* @param alpha the percentage used for the interpolation. A value of 0 will result in not modifying
* this frame tuple, while a value of 1 is equivalent to setting this frame tuple to
* {@code other}.
* @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same frame as
* {@code this}.
*/
default void interpolate(FrameTuple3DReadOnly other, double alpha)
{
checkReferenceFrameMatch(other);
Tuple3DBasics.super.interpolate(other, alpha);
}
/**
* Performs a linear interpolation from {@code frameTuple1} to {@code frameTuple2} given the
* percentage {@code alpha}.
*
* this = (1.0 - alpha) * frameTuple1 + alpha * frameTuple2
*
*
* @param frameTuple1 the first frame tuple used in the interpolation. Not modified.
* @param frameTuple2 the second frame tuple used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting this frame tuple to {@code frameTuple1}, while a value of 1 is
* equivalent to setting this frame tuple to {@code frameTuple2}.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void interpolate(FrameTuple3DReadOnly frameTuple1, FrameTuple3DReadOnly frameTuple2, double alpha)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Tuple3DBasics.super.interpolate(frameTuple1, frameTuple2, alpha);
}
/**
* Performs a linear interpolation from {@code tuple1} to {@code frameTuple2} given the percentage
* {@code alpha}.
*
* this = (1.0 - alpha) * tuple1 + alpha * frameTuple2
*
*
* @param tuple1 the first tuple used in the interpolation. Not modified.
* @param frameTuple2 the second frame tuple used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting this frame tuple to {@code tuple1}, while a value of 1 is equivalent
* to setting this frame tuple to {@code frameTuple2}.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void interpolate(Tuple3DReadOnly tuple1, FrameTuple3DReadOnly frameTuple2, double alpha)
{
checkReferenceFrameMatch(frameTuple2);
Tuple3DBasics.super.interpolate(tuple1, frameTuple2, alpha);
}
/**
* Performs a linear interpolation from {@code frameTuple1} to {@code tuple2} given the percentage
* {@code alpha}.
*
* this = (1.0 - alpha) * frameTuple1 + alpha * tuple2
*
*
* @param frameTuple1 the first frame tuple used in the interpolation. Not modified.
* @param tuple2 the second tuple used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting this frame tuple to {@code frameTuple1}, while a value of 1 is
* equivalent to setting this frame tuple to {@code tuple2}.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void interpolate(FrameTuple3DReadOnly frameTuple1, Tuple3DReadOnly tuple2, double alpha)
{
checkReferenceFrameMatch(frameTuple1);
Tuple3DBasics.super.interpolate(frameTuple1, tuple2, alpha);
}
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