us.ihmc.euclid.referenceFrame.interfaces.FrameLine2DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.Axis2D;
import us.ihmc.euclid.geometry.interfaces.Line2DBasics;
import us.ihmc.euclid.geometry.interfaces.Line2DReadOnly;
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 2D expressed in a changeable reference frame, i.e. the
* reference frame in which this line is expressed can be changed.
*
* A line 2D represents an infinitely long line in the XY-plane and defined by a point and a
* direction.
*
*
* In addition to representing a {@link Line2DBasics}, a {@link ReferenceFrame} is associated to a
* {@code FrameLine2DBasics}. This allows, for instance, to enforce, at runtime, that operations on
* lines occur in the same coordinate system.
*
*
* Because a {@code FrameLine2DBasics} extends {@code Line2DBasics}, it is compatible with methods
* only requiring {@code Line2DBasics}. 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 FrameLine2DBasics}.
*
*/
public interface FrameLine2DBasics extends FixedFrameLine2DBasics, FrameChangeable
{
/**
* Sets the reference frame of this line 2D without updating or modifying its point or direction.
*
* @param referenceFrame the new reference frame for this frame line 2D.
*/
@Override
void setReferenceFrame(ReferenceFrame referenceFrame);
/**
* Sets the point of this line to zero, its direction to {@link Axis2D#X}, and sets the current
* reference frame to {@code referenceFrame}.
*
* @param referenceFrame the new reference frame to be associated with this line 2D.
*/
default void setToZero(ReferenceFrame referenceFrame)
{
setReferenceFrame(referenceFrame);
setToZero();
}
/**
* Sets the point and direction parts of this line 2D to {@link Double#NaN} and sets the current
* reference frame to {@code referenceFrame}.
*
* @param referenceFrame the new reference frame to be associated with this line 2D.
*/
default void setToNaN(ReferenceFrame referenceFrame)
{
setReferenceFrame(referenceFrame);
setToNaN();
}
/**
* Redefines this line with a new point, a new direction vector, and a new reference frame.
*
* @param referenceFrame the new reference frame for this frame line.
* @param pointOnLineX the new x-coordinate of the point on this line.
* @param pointOnLineY the new y-coordinate of the point on this line.
* @param lineDirectionX the new x-component of the direction of this line.
* @param lineDirectionY the new y-component of the direction of this line.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, double pointOnLineX, double pointOnLineY, double lineDirectionX, double lineDirectionY)
{
setReferenceFrame(referenceFrame);
set(pointOnLineX, pointOnLineY, lineDirectionX, lineDirectionY);
}
/**
* Sets this line to be the same as the given line.
*
* @param referenceFrame the new reference frame for this frame line.
* @param line2DReadOnly the line to copy. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Line2DReadOnly line2DReadOnly)
{
setReferenceFrame(referenceFrame);
set(line2DReadOnly);
}
/**
* Sets this line to be the same as the given line.
*
* @param referenceFrame the new reference frame for this frame line.
* @param line3DReadOnly the line to copy. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Line3DReadOnly line3DReadOnly)
{
setReferenceFrame(referenceFrame);
set(line3DReadOnly);
}
/**
* Sets this line to go through the endpoints of the given line segment.
*
* @param referenceFrame the new reference frame for this frame line.
* @param lineSegment2DReadOnly the line segment to copy. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, LineSegment2DReadOnly lineSegment2DReadOnly)
{
setReferenceFrame(referenceFrame);
set(lineSegment2DReadOnly);
}
/**
* Sets this line to go through the endpoints of the given line segment projected on the XY-plane.
*
* @param referenceFrame the new reference frame for this frame line.
* @param lineSegment3DReadOnly the line segment to copy. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, LineSegment3DReadOnly lineSegment3DReadOnly)
{
setReferenceFrame(referenceFrame);
set(lineSegment3DReadOnly);
}
/**
* Redefines this line with a new point, a new direction vector, and a new reference frame.
*
* @param referenceFrame the new reference frame for this frame line.
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point2DReadOnly pointOnLine, Vector2DReadOnly lineDirection)
{
setReferenceFrame(referenceFrame);
set(pointOnLine, lineDirection);
}
/**
* Redefines this line with a new point, a new direction vector, and a new reference frame.
*
* @param referenceFrame the new reference frame for this frame line.
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point3DReadOnly pointOnLine, Vector3DReadOnly lineDirection)
{
setReferenceFrame(referenceFrame);
set(pointOnLine, lineDirection);
}
/**
* Redefines this line such that it goes through the two given points in the given reference frame.
*
* @param referenceFrame the new reference frame for this frame line.
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point2DReadOnly firstPointOnLine, Point2DReadOnly secondPointOnLine)
{
setReferenceFrame(referenceFrame);
set(firstPointOnLine, secondPointOnLine);
}
/**
* Redefines this line such that it goes through the two given points in the given reference frame.
*
* @param referenceFrame the new reference frame for this frame line.
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point3DReadOnly firstPointOnLine, Point3DReadOnly secondPointOnLine)
{
setReferenceFrame(referenceFrame);
set(firstPointOnLine, secondPointOnLine);
}
/**
* Sets this line to be the same as the given line.
*
* @param other the other line to copy. Not modified.
*/
default void setIncludingFrame(FrameLine2DReadOnly other)
{
setIncludingFrame(other.getReferenceFrame(), other);
}
/**
* Sets this line to be the same as the given line.
*
* @param frameLine3DReadOnly the line to copy. Not modified.
*/
default void setIncludingFrame(FrameLine3DReadOnly frameLine3DReadOnly)
{
setIncludingFrame(frameLine3DReadOnly.getReferenceFrame(), frameLine3DReadOnly);
}
/**
* Sets this line to go through the endpoints of the given line segment.
*
* @param referenceFrame the new reference frame for this frame line.
* @param frameLineSegment2DReadOnly the line segment to copy. Not modified.
*/
default void setIncludingFrame(FrameLineSegment2DReadOnly frameLineSegment2DReadOnly)
{
setIncludingFrame(frameLineSegment2DReadOnly.getReferenceFrame(), frameLineSegment2DReadOnly);
}
/**
* Sets this line to go through the endpoints of the given line segment projected on the XY-plane.
*
* @param referenceFrame the new reference frame for this frame line.
* @param frameLineSegment3DReadOnly the line segment to copy. Not modified.
*/
default void setIncludingFrame(FrameLineSegment3DReadOnly frameLineSegment3DReadOnly)
{
setIncludingFrame(frameLineSegment3DReadOnly.getReferenceFrame(), frameLineSegment3DReadOnly);
}
/**
* Redefines this line with a new point, a new direction vector, and a new reference frame.
*
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code pointOnLine} and {@code lineDirection} are not
* expressed in the same reference frame
*/
default void setIncludingFrame(FramePoint2DReadOnly pointOnLine, FrameVector2DReadOnly lineDirection)
{
pointOnLine.checkReferenceFrameMatch(lineDirection);
setIncludingFrame(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection);
}
/**
* Redefines this line with a new point, a new direction vector, and a new reference frame.
*
* @param pointOnLine new point on this line. Not modified.
* @param lineDirection new direction of this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code pointOnLine} and {@code lineDirection} are not
* expressed in the same reference frame
*/
default void setIncludingFrame(FramePoint3DReadOnly pointOnLine, FrameVector3DReadOnly lineDirection)
{
pointOnLine.checkReferenceFrameMatch(lineDirection);
setIncludingFrame(pointOnLine.getReferenceFrame(), pointOnLine, lineDirection);
}
/**
* Redefines this line such that it goes through the two given points in the given reference frame.
*
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code firstPointOnLine} and {@code secondPointOnLine}
* are not expressed in the same reference frame
*/
default void setIncludingFrame(FramePoint2DReadOnly firstPointOnLine, FramePoint2DReadOnly secondPointOnLine)
{
firstPointOnLine.checkReferenceFrameMatch(secondPointOnLine);
setIncludingFrame(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine);
}
/**
* Redefines this line such that it goes through the two given points in the given reference frame.
*
* @param firstPointOnLine first point on this line. Not modified.
* @param secondPointOnLine second point on this line. Not modified.
* @throws ReferenceFrameMismatchException if {@code firstPointOnLine} and {@code secondPointOnLine}
* are not expressed in the same reference frame
*/
default void setIncludingFrame(FramePoint3DReadOnly firstPointOnLine, FramePoint3DReadOnly secondPointOnLine)
{
firstPointOnLine.checkReferenceFrameMatch(secondPointOnLine);
setIncludingFrame(firstPointOnLine.getReferenceFrame(), firstPointOnLine, secondPointOnLine);
}
/**
* Performs a transformation of the line such that it is expressed in a new frame
* {@code desireFrame}.
*
* Because the transformation between two reference frames is a 3D transformation, the result of
* transforming this line 2D can result in a line 3D. This method projects the result of the
* transformation onto the XY-plane.
*
*
* @param desiredFrame the reference frame in which the line is to be expressed.
*/
void changeFrameAndProjectToXYPlane(ReferenceFrame desiredFrame);
}
© 2015 - 2025 Weber Informatics LLC | Privacy Policy