us.ihmc.euclid.referenceFrame.interfaces.FrameLine3DReadOnly Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.geometry.interfaces.Line3DReadOnly;
import us.ihmc.euclid.geometry.tools.EuclidGeometryTools;
import us.ihmc.euclid.referenceFrame.FramePoint3D;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.referenceFrame.tools.EuclidFrameIOTools;
import us.ihmc.euclid.tools.EuclidCoreIOTools;
import us.ihmc.euclid.tuple3D.interfaces.Point3DBasics;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.euclid.tuple3D.interfaces.Vector3DBasics;
/**
* Read-only interface for a line 3D expressed in a given reference frame.
*
* A line 3D represents an infinitely long line in the XY-plane and defined by a point and a
* direction.
*
*
* In addition to representing a {@link Line3DReadOnly}, a {@link ReferenceFrame} is associated to a
* {@code FrameLine3DReadOnly}. This allows, for instance, to enforce, at runtime, that operations
* on lines occur in the same coordinate system.
*
*
* Because a {@code FrameLine3DReadOnly} extends {@code Line3DReadOnly}, it is compatible with
* methods only requiring {@code Line3DReadOnly}. 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 FrameLine3DReadOnly}.
*
*/
public interface FrameLine3DReadOnly extends Line3DReadOnly, EuclidFrameGeometry
{
/** {@inheritDoc} */
@Override
FramePoint3DReadOnly getPoint();
/** {@inheritDoc} */
@Override
FrameUnitVector3DReadOnly getDirection();
/**
* Gets the point and direction defining this line by storing their components in the given
* arguments {@code pointToPack} and {@code directionToPack}.
*
* @param pointToPack point in which the coordinates of this line's point are stored. Modified.
* @param directionToPack vector in which the components of this line's direction are stored.
* Modified.
* @throws ReferenceFrameMismatchException if either argument is not expressed in the same reference
* frame as this frame line 3D.
*/
default void get(FixedFramePoint3DBasics pointToPack, FixedFrameVector3DBasics directionToPack)
{
checkReferenceFrameMatch(pointToPack, directionToPack);
Line3DReadOnly.super.get(pointToPack, directionToPack);
}
/**
* Gets the point and direction defining this line by storing their components in the given
* arguments {@code pointToPack} and {@code directionToPack}.
*
* @param pointToPack point in which the coordinates of this line's point are stored. Modified.
* @param directionToPack vector in which the components of this line's direction are stored.
* Modified.
*/
default void get(FramePoint3DBasics pointToPack, FrameVector3DBasics directionToPack)
{
pointToPack.setReferenceFrame(getReferenceFrame());
directionToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.get(pointToPack, directionToPack);
}
/**
* Gets the point and direction defining this line by storing their components in the given
* arguments {@code pointToPack} and {@code directionToPack}.
*
* @param pointToPack point in which the coordinates of this line's point are stored. Modified.
* @param directionToPack vector in which the components of this line's direction are stored.
* Modified.
* @throws ReferenceFrameMismatchException if {@code directionToPack} is not expressed in the same
* reference frame as this frame line 3D.
*/
default void get(Point3DBasics pointToPack, FixedFrameVector3DBasics directionToPack)
{
checkReferenceFrameMatch(directionToPack);
Line3DReadOnly.super.get(pointToPack, directionToPack);
}
/**
* Gets the point and direction defining this line by storing their components in the given
* arguments {@code pointToPack} and {@code directionToPack}.
*
* @param pointToPack point in which the coordinates of this line's point are stored. Modified.
* @param directionToPack vector in which the components of this line's direction are stored.
* Modified.
*/
default void get(Point3DBasics pointToPack, FrameVector3DBasics directionToPack)
{
directionToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.get(pointToPack, directionToPack);
}
/**
* Gets the point and direction defining this line by storing their components in the given
* arguments {@code pointToPack} and {@code directionToPack}.
*
* @param pointToPack point in which the coordinates of this line's point are stored. Modified.
* @param directionToPack vector in which the components of this line's direction are stored.
* Modified.
* @throws ReferenceFrameMismatchException if {@code pointToPack} is not expressed in the same
* reference frame as this frame line 3D.
*/
default void get(FixedFramePoint3DBasics pointToPack, Vector3DBasics directionToPack)
{
checkReferenceFrameMatch(pointToPack);
Line3DReadOnly.super.get(pointToPack, directionToPack);
}
/**
* Gets the point and direction defining this line by storing their components in the given
* arguments {@code pointToPack} and {@code directionToPack}.
*
* @param pointToPack point in which the coordinates of this line's point are stored. Modified.
* @param directionToPack vector in which the components of this line's direction are stored.
* Modified.
*/
default void get(FramePoint3DBasics pointToPack, Vector3DBasics directionToPack)
{
pointToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.get(pointToPack, directionToPack);
}
/**
* Compares {@code this} with {@code other} to determine if the two lines are collinear.
*
* @param other the line to compare to. Not modified.
* @param epsilon the tolerance of the comparison.
* @return {@code true} if the lines are collinear, {@code false} otherwise.
* @throws IllegalArgumentException if angleEpsilon ∉ [0; pi/2]
* @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
* the same reference frame.
*/
default boolean isCollinear(FrameLine3DReadOnly other, double epsilon)
{
checkReferenceFrameMatch(other);
return Line3DReadOnly.super.isCollinear(other, epsilon);
}
/**
* Compares {@code this} with {@code other} to determine if the two lines are collinear.
*
* @param other the line to compare to. Not modified.
* @param angleEpsilon the tolerance of the comparison for angle.
* @param distanceEpsilon the tolerance of the comparison for distance.
* @return {@code true} if the lines are collinear, {@code false} otherwise.
* @throws IllegalArgumentException if angleEpsilon ∉ [0; pi/2]
* @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
* the same reference frame.
*/
default boolean isCollinear(FrameLine3DReadOnly other, double angleEpsilon, double distanceEpsilon)
{
checkReferenceFrameMatch(other);
return Line3DReadOnly.super.isCollinear(other, angleEpsilon, distanceEpsilon);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this} and {@code otherLine} are not expressed
* in the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine, Point3DBasics closestPointOnThisLineToPack, Point3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
*/
default double closestPointsWith(Line3DReadOnly otherLine, FixedFramePoint3DBasics closestPointOnThisLineToPack, Point3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(closestPointOnThisLineToPack);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
*/
default double closestPointsWith(Line3DReadOnly otherLine, FramePoint3DBasics closestPointOnThisLineToPack, Point3DBasics closestPointOnOtherLineToPack)
{
closestPointOnThisLineToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this} and {@code closestPointOnOtherLineToPack}
* are not expressed in the same reference frame.
*/
default double closestPointsWith(Line3DReadOnly otherLine, Point3DBasics closestPointOnThisLineToPack, FixedFramePoint3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(closestPointOnOtherLineToPack);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
*/
default double closestPointsWith(Line3DReadOnly otherLine, Point3DBasics closestPointOnThisLineToPack, FramePoint3DBasics closestPointOnOtherLineToPack)
{
closestPointOnOtherLineToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this}, {@code otherLine}, and
* {@code closestPointOnThisLineToPack} are not expressed in
* the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine,
FixedFramePoint3DBasics closestPointOnThisLineToPack,
Point3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine, closestPointOnThisLineToPack);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this} and {@code otherLine} are not expressed
* in the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine, FramePoint3DBasics closestPointOnThisLineToPack, Point3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine);
closestPointOnThisLineToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this}, {@code otherLine}, and
* {@code closestPointOnOtherLineToPack} are not expressed
* in the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine,
Point3DBasics closestPointOnThisLineToPack,
FixedFramePoint3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine, closestPointOnOtherLineToPack);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this} and {@code otherLine} are not expressed
* in the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine, Point3DBasics closestPointOnThisLineToPack, FramePoint3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine);
closestPointOnOtherLineToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this}, {@code otherLine},
* {@code closestPointOnThisLineToPack}, and
* {@code closestPointOnOtherLineToPack} are not expressed
* in the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine,
FixedFramePoint3DBasics closestPointOnThisLineToPack,
FixedFramePoint3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this} and {@code otherLine} are not expressed
* in the same reference frame.
*/
default double closestPointsWith(FrameLine3DReadOnly otherLine,
FramePoint3DBasics closestPointOnThisLineToPack,
FramePoint3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(otherLine);
closestPointOnThisLineToPack.setReferenceFrame(getReferenceFrame());
closestPointOnOtherLineToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this}, {@code closestPointOnThisLineToPack},
* and {@code closestPointOnOtherLineToPack} are not
* expressed in the same reference frame.
*/
default double closestPointsWith(Line3DReadOnly otherLine,
FixedFramePoint3DBasics closestPointOnThisLineToPack,
FixedFramePoint3DBasics closestPointOnOtherLineToPack)
{
checkReferenceFrameMatch(closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes two points P ∈ this line and Q ∈ {@code otherLine} such that the
* distance || P - Q || is the minimum distance between the two 3D lines.
* Useful link.
*
* @param otherLine the second line. Not modified.
* @param closestPointOnThisLineToPack the 3D coordinates of the point P are packed in this 3D
* point. Modified. Can be {@code null}.
* @param closestPointOnOtherLineToPack the 3D coordinates of the point Q are packed in this 3D
* point. Modified. Can be {@code null}.
* @return the minimum distance between the two lines.
*/
default double closestPointsWith(Line3DReadOnly otherLine, FramePoint3DBasics closestPointOnThisLineToPack, FramePoint3DBasics closestPointOnOtherLineToPack)
{
closestPointOnThisLineToPack.setReferenceFrame(getReferenceFrame());
closestPointOnOtherLineToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.closestPointsWith(otherLine, closestPointOnThisLineToPack, closestPointOnOtherLineToPack);
}
/**
* This methods computes the minimum distance between this line and {@code otherLine}.
* Useful link.
*
* @param otherLine the other line to compute the distance from. Not modified.
* @return the minimum distance between the two lines.
* @throws ReferenceFrameMismatchException if {@code this} and {@code otherLine} are not expressed
* in the same reference frame.
*/
default double distance(FrameLine3DReadOnly otherLine)
{
checkReferenceFrameMatch(otherLine);
return Line3DReadOnly.super.distance(otherLine);
}
/**
* Computes the minimum distance the given 3D point and this line.
*
* Edge cases:
*
* - if {@code direction.length() < }{@link EuclidGeometryTools#ONE_TRILLIONTH}, this method
* returns the distance between {@code point} and the given {@code point}.
*
*
*
* @param point 3D point to compute the distance from the line. Not modified.
* @return the minimum distance between the 3D point and this 3D line.
* @throws ReferenceFrameMismatchException if {@code this} and {@code point} are not expressed in
* the same reference frame.
*/
default double distance(FramePoint3DReadOnly point)
{
checkReferenceFrameMatch(point);
return Line3DReadOnly.super.distance(point);
}
/**
* Calculates the coordinates of the point 'p' given the parameter 't' as follows:
* p = t * n + p0
* where n is the unit-vector defining the direction of this line and p0 is the point
* defining this line which also corresponds to the point for which t=0.
*
* Note that the absolute value of 't' is equal to the distance between the point 'p' and the point
* p0 defining this line.
*
*
* @param t the parameter used to calculate the point coordinates.
* @param pointToPack the point in which the coordinates of 'p' are stored. Modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code pointToPack} are not expressed
* in the same reference frame.
*/
default void pointOnLineGivenParameter(double t, FixedFramePoint3DBasics pointToPack)
{
checkReferenceFrameMatch(pointToPack);
Line3DReadOnly.super.pointOnLineGivenParameter(t, pointToPack);
}
/**
* Calculates the coordinates of the point 'p' given the parameter 't' as follows:
* p = t * n + p0
* where n is the unit-vector defining the direction of this line and p0 is the point
* defining this line which also corresponds to the point for which t=0.
*
* Note that the absolute value of 't' is equal to the distance between the point 'p' and the point
* p0 defining this line.
*
*
* @param t the parameter used to calculate the point coordinates.
* @param pointToPack the point in which the coordinates of 'p' are stored. Modified.
*/
default void pointOnLineGivenParameter(double t, FramePoint3DBasics pointToPack)
{
pointToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.pointOnLineGivenParameter(t, pointToPack);
}
/**
* Computes the orthogonal projection of the given 3D point on this 3D line.
*
* Edge cases:
*
* - if the given line direction is too small, i.e.
* {@code lineDirection.lengthSquared() < }{@value EuclidGeometryTools#ONE_TRILLIONTH}, this method
* fails and returns {@code false}.
*
*
*
* WARNING: This method generates garbage.
*
*
* @param pointToProject the point to compute the projection of. Not modified.
* @return the projection of the point onto the line or {@code null} if the method failed.
* @throws ReferenceFrameMismatchException if {@code this} and {@code pointToProject} are not
* expressed in the same reference frame.
*/
default FramePoint3D orthogonalProjectionCopy(FramePoint3DReadOnly pointToProject)
{
checkReferenceFrameMatch(pointToProject);
return new FramePoint3D(getReferenceFrame(), Line3DReadOnly.super.orthogonalProjectionCopy(pointToProject));
}
/**
* Computes the orthogonal projection of the given 3D point on this 3D line.
*
* Edge cases:
*
* - if the given line direction is too small, i.e.
* {@code lineDirection.lengthSquared() < }{@value EuclidGeometryTools#ONE_TRILLIONTH}, this method
* fails and returns {@code false}.
*
*
*
* @param pointToProject the point to compute the projection of. Not modified.
* @param projectionToPack point in which the projection of the point onto the line is stored.
* Modified.
* @return whether the method succeeded or not.
* @throws ReferenceFrameMismatchException if {@code this} and {@code pointToProject} are not
* expressed in the same reference frame.
*/
default boolean orthogonalProjection(FramePoint3DReadOnly pointToProject, Point3DBasics projectionToPack)
{
checkReferenceFrameMatch(pointToProject);
return Line3DReadOnly.super.orthogonalProjection(pointToProject, projectionToPack);
}
/**
* Computes the orthogonal projection of the given 3D point on this 3D line.
*
* Edge cases:
*
* - if the given line direction is too small, i.e.
* {@code lineDirection.lengthSquared() < }{@value EuclidGeometryTools#ONE_TRILLIONTH}, this method
* fails and returns {@code false}.
*
*
*
* @param pointToProject the point to compute the projection of. Not modified.
* @param projectionToPack point in which the projection of the point onto the line is stored.
* Modified.
* @return whether the method succeeded or not.
* @throws ReferenceFrameMismatchException if {@code this} and {@code projectionToPack} are not
* expressed in the same reference frame.
*/
default boolean orthogonalProjection(Point3DReadOnly pointToProject, FixedFramePoint3DBasics projectionToPack)
{
checkReferenceFrameMatch(projectionToPack);
return Line3DReadOnly.super.orthogonalProjection(pointToProject, projectionToPack);
}
/**
* Computes the orthogonal projection of the given 3D point on this 3D line.
*
* Edge cases:
*
* - if the given line direction is too small, i.e.
* {@code lineDirection.lengthSquared() < }{@value EuclidGeometryTools#ONE_TRILLIONTH}, this method
* fails and returns {@code false}.
*
*
*
* @param pointToProject the point to compute the projection of. Not modified.
* @param projectionToPack point in which the projection of the point onto the line is stored.
* Modified.
* @return whether the method succeeded or not.
*/
default boolean orthogonalProjection(Point3DReadOnly pointToProject, FramePoint3DBasics projectionToPack)
{
projectionToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.orthogonalProjection(pointToProject, projectionToPack);
}
/**
* Computes the orthogonal projection of the given 3D point on this 3D line.
*
* Edge cases:
*
* - if the given line direction is too small, i.e.
* {@code lineDirection.lengthSquared() < }{@value EuclidGeometryTools#ONE_TRILLIONTH}, this method
* fails and returns {@code false}.
*
*
*
* @param pointToProject the point to compute the projection of. Not modified.
* @param projectionToPack point in which the projection of the point onto the line is stored.
* Modified.
* @return whether the method succeeded or not.
* @throws ReferenceFrameMismatchException if {@code this}, {@code pointToProject}, and
* {@code projectionToPack} are not expressed in the same
* reference frame.
*/
default boolean orthogonalProjection(FramePoint3DReadOnly pointToProject, FixedFramePoint3DBasics projectionToPack)
{
checkReferenceFrameMatch(pointToProject, projectionToPack);
return Line3DReadOnly.super.orthogonalProjection(pointToProject, projectionToPack);
}
/**
* Computes the orthogonal projection of the given 3D point on this 3D line.
*
* Edge cases:
*
* - if the given line direction is too small, i.e.
* {@code lineDirection.lengthSquared() < }{@value EuclidGeometryTools#ONE_TRILLIONTH}, this method
* fails and returns {@code false}.
*
*
*
* @param pointToProject the point to compute the projection of. Not modified.
* @param projectionToPack point in which the projection of the point onto the line is stored.
* Modified.
* @return whether the method succeeded or not.
* @throws ReferenceFrameMismatchException if {@code this} and {@code pointToProject} are not
* expressed in the same reference frame.
*/
default boolean orthogonalProjection(FramePoint3DReadOnly pointToProject, FramePoint3DBasics projectionToPack)
{
checkReferenceFrameMatch(pointToProject);
projectionToPack.setReferenceFrame(getReferenceFrame());
return Line3DReadOnly.super.orthogonalProjection(pointToProject, projectionToPack);
}
/**
* Calculates the parameter 't' corresponding to the coordinates of the given {@code pointOnLine}
* 'p' by solving the line equation:
* p = t * n + p0
* where n is the unit-vector defining the direction of this line and p0 is the point
* defining this line which also corresponds to the point for which t=0.
*
* Note that the absolute value of 't' is equal to the distance between the point 'p' and the point
* p0 defining this line.
*
*
* @param pointOnLine the coordinates of the 'p' from which the parameter 't' is to be calculated.
* The point has to be on the line. Not modified.
* @param epsilon the maximum distance allowed between the given point and this line. If the
* given point is at a distance less than {@code epsilon} from this line, it is
* considered as being located on this line.
* @return the value of the parameter 't' corresponding to the given point.
* @throws RuntimeException if the given point is located at a distance greater than
* {@code epsilon} from this line.
* @throws ReferenceFrameMismatchException if {@code this} and {@code point} are not expressed in
* the same reference frame.
*/
default double parameterGivenPointOnLine(FramePoint3DReadOnly pointOnLine, double epsilon)
{
checkReferenceFrameMatch(pointOnLine);
return Line3DReadOnly.super.parameterGivenPointOnLine(pointOnLine, epsilon);
}
/**
* Tests if the given is located on this line.
*
* More precisely, the point is assumed to be on this line if it is located at a distance less than
* {@code epsilon} from it.
*
*
* @param point the coordinates of the query. Not modified.
* @param epsilon the tolerance used for this test.
* @return {@code true} if the point is located on this line, {@code false} otherwise.
* @throws ReferenceFrameMismatchException if {@code this} and {@code point} are not expressed in
* the same reference frame.
*/
default boolean isPointOnLine(FramePoint3DReadOnly point, double epsilon)
{
checkReferenceFrameMatch(point);
return Line3DReadOnly.super.isPointOnLine(point, epsilon);
}
/**
* Gets the coordinates of two distinct points this line goes through.
*
* @param firstPointOnLineToPack the coordinates of a first point located on this line. Modified.
* @param secondPointOnLineToPack the coordinates of a second point located on this line. Modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code firstPointOnLineToPack} are
* not expressed in the same reference frame.
*/
default void getTwoPointsOnLine(FixedFramePoint3DBasics firstPointOnLineToPack, Point3DBasics secondPointOnLineToPack)
{
checkReferenceFrameMatch(firstPointOnLineToPack);
Line3DReadOnly.super.getTwoPointsOnLine(firstPointOnLineToPack, secondPointOnLineToPack);
}
/**
* Gets the coordinates of two distinct points this line goes through.
*
* @param firstPointOnLineToPack the coordinates of a first point located on this line. Modified.
* @param secondPointOnLineToPack the coordinates of a second point located on this line. Modified.
*/
default void getTwoPointsOnLine(FramePoint3DBasics firstPointOnLineToPack, Point3DBasics secondPointOnLineToPack)
{
firstPointOnLineToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.getTwoPointsOnLine(firstPointOnLineToPack, secondPointOnLineToPack);
}
/**
* Gets the coordinates of two distinct points this line goes through.
*
* @param firstPointOnLineToPack the coordinates of a first point located on this line. Modified.
* @param secondPointOnLineToPack the coordinates of a second point located on this line. Modified.
* @throws ReferenceFrameMismatchException if {@code this} and {@code secondPointOnLineToPack} are
* not expressed in the same reference frame.
*/
default void getTwoPointsOnLine(Point3DBasics firstPointOnLineToPack, FixedFramePoint3DBasics secondPointOnLineToPack)
{
checkReferenceFrameMatch(secondPointOnLineToPack);
Line3DReadOnly.super.getTwoPointsOnLine(firstPointOnLineToPack, secondPointOnLineToPack);
}
/**
* Gets the coordinates of two distinct points this line goes through.
*
* @param firstPointOnLineToPack the coordinates of a first point located on this line. Modified.
* @param secondPointOnLineToPack the coordinates of a second point located on this line. Modified.
*/
default void getTwoPointsOnLine(Point3DBasics firstPointOnLineToPack, FramePoint3DBasics secondPointOnLineToPack)
{
secondPointOnLineToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.getTwoPointsOnLine(firstPointOnLineToPack, secondPointOnLineToPack);
}
/**
* Gets the coordinates of two distinct points this line goes through.
*
* @param firstPointOnLineToPack the coordinates of a first point located on this line. Modified.
* @param secondPointOnLineToPack the coordinates of a second point located on this line. Modified.
* @throws ReferenceFrameMismatchException if {@code this}, {@code firstPointOnLineToPack}, and
* {@code secondPointOnLineToPack} are not expressed in the
* same reference frame.
*/
default void getTwoPointsOnLine(FixedFramePoint3DBasics firstPointOnLineToPack, FixedFramePoint3DBasics secondPointOnLineToPack)
{
checkReferenceFrameMatch(firstPointOnLineToPack, secondPointOnLineToPack);
Line3DReadOnly.super.getTwoPointsOnLine(firstPointOnLineToPack, secondPointOnLineToPack);
}
/**
* Gets the coordinates of two distinct points this line goes through.
*
* @param firstPointOnLineToPack the coordinates of a first point located on this line. Modified.
* @param secondPointOnLineToPack the coordinates of a second point located on this line. Modified.
*/
default void getTwoPointsOnLine(FramePoint3DBasics firstPointOnLineToPack, FramePoint3DBasics secondPointOnLineToPack)
{
firstPointOnLineToPack.setReferenceFrame(getReferenceFrame());
secondPointOnLineToPack.setReferenceFrame(getReferenceFrame());
Line3DReadOnly.super.getTwoPointsOnLine(firstPointOnLineToPack, secondPointOnLineToPack);
}
/**
* Gets a representative {@code String} of this line 3D given a specific format to use.
*
* Using the default format {@link EuclidCoreIOTools#DEFAULT_FORMAT}, this provides a {@code String}
* as follows:
*
*
* Line 3D: point = ( 0.174, 0.732, -0.222 ), direction = (-0.558, -0.380, 0.130 ), worldFrame
*
*
*/
@Override
default String toString(String format)
{
return EuclidFrameIOTools.getFrameLine3DString(format, this);
}
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