us.ihmc.euclid.referenceFrame.interfaces.FixedFrameVector3DBasics Maven / Gradle / Ivy

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package us.ihmc.euclid.referenceFrame.interfaces;

import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DBasics;

/**
 * Write and read interface for a 3D vector expressed in a constant reference frame, i.e. the
 * reference frame of this object cannot be changed via this interface.
 * 
 * In addition to representing a {@link Vector3DBasics}, a {@link ReferenceFrame} is associated to a
 * {@code FixedFrameVector3DBasics}. This allows, for instance, to enforce, at runtime, that
 * operations on vectors occur in the same coordinate system.
 * 
 * 
 * Because a {@code FixedFrameVector3DBasics} extends {@code Vector3DBasics}, it is compatible with
 * methods only requiring {@code Vector3DBasics}. 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 FixedFrameVector3DBasics}.
 * 
 */
public interface FixedFrameVector3DBasics extends FrameVector3DReadOnly, FixedFrameTuple3DBasics, Vector3DBasics
{
   /**
    * Sets this frame vector to the cross product of {@code this} and {@code other}.
    * 
    * this = this × other
    * 
    *
    * @param other the second frame vector in the cross product. Not modified.
    * @throws ReferenceFrameMismatchException if {@code other} is not expressed in the same reference
    *                                         frame as {@code this}.
    */
   default void cross(FrameVector3DReadOnly other)
   {
      cross((FrameTuple3DReadOnly) other);
   }

   /**
    * Sets this frame vector to the cross product of {@code this} and {@code frameTuple3DReadOnly}.
    * 
    * this = this × frameTuple3DReadOnly
    * 
    *
    * @param frameTuple3DReadOnly the second frame tuple in the cross product. Not modified.
    * @throws ReferenceFrameMismatchException if {@code frameTuple3DReadOnly} is not expressed in the
    *                                         same reference frame as {@code this}.
    */
   default void cross(FrameTuple3DReadOnly frameTuple3DReadOnly)
   {
      checkReferenceFrameMatch(frameTuple3DReadOnly);
      Vector3DBasics.super.cross(frameTuple3DReadOnly);
   }

   /**
    * Sets this frame vector to the cross product of {@code frameVector1} and {@code frameVector2}.
    * 
    * this = frameVector1 × frameVector2
    * 
    *
    * @param frameVector1 the first frame vector in the cross product. Not modified.
    * @param frameVector2 the second frame vector in the cross product. Not modified.
    * @throws ReferenceFrameMismatchException if either {@code frameVector1} or {@code frameVector2} is
    *                                         not expressed in the same reference frame as
    *                                         {@code this}.
    */
   default void cross(FrameVector3DReadOnly frameVector1, FrameVector3DReadOnly frameVector2)
   {
      cross((FrameTuple3DReadOnly) frameVector1, (FrameTuple3DReadOnly) frameVector2);
   }

   /**
    * Sets this frame vector to the cross product of {@code frameTuple1} and {@code frameTuple2}.
    * 
    * this = frameTuple1 × frameTuple2
    * 
    *
    * @param frameTuple1 the first frame tuple in the cross product. Not modified.
    * @param frameTuple2 the second frame tuple in the cross product. Not modified.
    * @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
    *                                         not expressed in the same reference frame as
    *                                         {@code this}.
    */
   default void cross(FrameTuple3DReadOnly frameTuple1, FrameTuple3DReadOnly frameTuple2)
   {
      checkReferenceFrameMatch(frameTuple1, frameTuple2);
      Vector3DBasics.super.cross(frameTuple1, frameTuple2);
   }

   /**
    * Sets this frame vector to the cross product of {@code frameTuple1} and {@code tuple2}.
    * 
    * this = frameTuple1 × tuple2
    * 
    *
    * @param frameTuple1 the first frame tuple in the cross product. Not modified.
    * @param tuple2      the second tuple in the cross product. Not modified.
    * @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same
    *                                         reference frame as {@code this}.
    */
   default void cross(FrameTuple3DReadOnly frameTuple1, Tuple3DReadOnly tuple2)
   {
      checkReferenceFrameMatch(frameTuple1);
      Vector3DBasics.super.cross(frameTuple1, tuple2);
   }

   /**
    * Sets this frame vector to the cross product of {@code tuple1} and {@code frameTuple2}.
    * 
    * this = tuple1 × frameTuple2
    * 
    *
    * @param tuple1      the first tuple in the cross product. Not modified.
    * @param frameTuple2 the second frame tuple in the cross product. Not modified.
    * @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same
    *                                         reference frame as {@code this}.
    */
   default void cross(Tuple3DReadOnly tuple1, FrameTuple3DReadOnly frameTuple2)
   {
      checkReferenceFrameMatch(frameTuple2);
      Vector3DBasics.super.cross(tuple1, frameTuple2);
   }
}