us.ihmc.euclid.referenceFrame.interfaces.FrameLineSegment2DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.geometry.interfaces.LineSegment2DBasics;
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 segment 2D expressed in a changeable reference frame, i.e.
* the reference frame in which this line is expressed can be changed.
*
* A line segment 2D is a finite-length line defined in the XY-plane by its two 2D endpoints.
*
*
* In addition to representing a {@link LineSegment2DBasics}, a {@link ReferenceFrame} is associated
* to a {@code FrameLineSegment2DBasics}. This allows, for instance, to enforce, at runtime, that
* operations on lines occur in the same coordinate system.
*
*
* Because a {@code FrameLineSegment2DBasics} extends {@code LineSegment2DBasics}, it is compatible
* with methods only requiring {@code LineSegment2DBasics}. 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 FrameLineSegment2DBasics}.
*
*/
public interface FrameLineSegment2DBasics extends FixedFrameLineSegment2DBasics, FrameChangeable
{
/**
* Sets the reference frame of this line segment 2D without updating or modifying either of its
* endpoints.
*
* @param referenceFrame the new reference frame for this frame line segment 2D.
*/
@Override
void setReferenceFrame(ReferenceFrame referenceFrame);
/**
* Sets the point and direction parts of this line segment 2D to zero and sets the current reference
* frame to {@code referenceFrame}.
*
* @param referenceFrame the new reference frame to be associated with this line segment 2D.
*/
default void setToZero(ReferenceFrame referenceFrame)
{
setReferenceFrame(referenceFrame);
setToZero();
}
/**
* Sets the point and direction parts of this line segment 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 segment 2D.
*/
default void setToNaN(ReferenceFrame referenceFrame)
{
setReferenceFrame(referenceFrame);
setToNaN();
}
/**
* Sets this line segment to be the same as the given line segment including its reference frame.
*
* @param other the other line segment to copy. Not modified.
*/
default void setIncludingFrame(FrameLineSegment2DReadOnly other)
{
setIncludingFrame(other.getReferenceFrame(), other);
}
/**
* Sets this line segment to be the same as the given line segment including the given reference
* frame.
*
* @param referenceFrame the reference frame in which the given line segment is expressed.
* @param lineSegment2DReadOnly the line segment to copy. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, LineSegment2DReadOnly lineSegment2DReadOnly)
{
setReferenceFrame(referenceFrame);
set(lineSegment2DReadOnly);
}
/**
* Sets this line segment to be same as the given line segment including its reference frame.
*
* @param other the other line segment to copy. Not modified.
*/
default void setIncludingFrame(FrameLineSegment3DReadOnly other)
{
setIncludingFrame(other.getReferenceFrame(), other);
}
/**
* Sets this line segment to be the same as the given line segment projected on the XY-plane.
*
* @param referenceFrame the reference frame in which the given line segment is expressed.
* @param lineSegment3DReadOnly the other line segment to copy. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, LineSegment3DReadOnly lineSegment3DReadOnly)
{
setReferenceFrame(referenceFrame);
set(lineSegment3DReadOnly);
}
/**
* Redefines this line segment with new endpoints.
*
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
* @throws ReferenceFrameMismatchException if {@code firstEndpoint} and {@code secondEndpoint} are
* not expressed in the same reference frame.
*/
default void setIncludingFrame(FramePoint2DReadOnly firstEndpoint, FramePoint2DReadOnly secondEndpoint)
{
firstEndpoint.checkReferenceFrameMatch(secondEndpoint);
setIncludingFrame(firstEndpoint.getReferenceFrame(), firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with new endpoints.
*
* @param referenceFrame the reference frame in which the arguments are expressed.
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point2DReadOnly firstEndpoint, Point2DReadOnly secondEndpoint)
{
setReferenceFrame(referenceFrame);
set(firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with new endpoints.
*
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
* @throws ReferenceFrameMismatchException if {@code firstEndpoint} and {@code secondEndpoint} are
* not expressed in the same reference frame.
*/
default void setIncludingFrame(FramePoint3DReadOnly firstEndpoint, FramePoint3DReadOnly secondEndpoint)
{
firstEndpoint.checkReferenceFrameMatch(secondEndpoint);
setIncludingFrame(firstEndpoint.getReferenceFrame(), firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with new endpoints.
*
* @param referenceFrame the reference frame in which the arguments are expressed.
* @param firstEndpoint new endpoint of this line segment. Not modified
* @param secondEndpoint new second endpoint of this line segment. Not modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point3DReadOnly firstEndpoint, Point3DReadOnly secondEndpoint)
{
setReferenceFrame(referenceFrame);
set(firstEndpoint, secondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
* @throws ReferenceFrameMismatchException if {@code firstEndpoint} and
* {@code fromFirstToSecondEndpoint} are not expressed in
* the same reference frame.
*/
default void setIncludingFrame(FramePoint2DReadOnly firstEndpoint, FrameVector2DReadOnly fromFirstToSecondEndpoint)
{
firstEndpoint.checkReferenceFrameMatch(fromFirstToSecondEndpoint);
setIncludingFrame(firstEndpoint.getReferenceFrame(), firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param referenceFrame the reference frame in which the arguments are expressed.
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point2DReadOnly firstEndpoint, Vector2DReadOnly fromFirstToSecondEndpoint)
{
setReferenceFrame(referenceFrame);
set(firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
* @throws ReferenceFrameMismatchException if {@code firstEndpoint} and
* {@code fromFirstToSecondEndpoint} are not expressed in
* the same reference frame.
*/
default void setIncludingFrame(FramePoint3DReadOnly firstEndpoint, FrameVector3DReadOnly fromFirstToSecondEndpoint)
{
firstEndpoint.checkReferenceFrameMatch(fromFirstToSecondEndpoint);
setIncludingFrame(firstEndpoint.getReferenceFrame(), firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Redefines this line segment with a new first endpoint and a vector going from the first to the
* second endpoint.
*
* @param referenceFrame the reference frame in which the arguments are expressed.
* @param firstEndpoint new first endpoint. Not modified.
* @param fromFirstToSecondEndpoint vector going from the first to the second endpoint. Not
* modified.
*/
default void setIncludingFrame(ReferenceFrame referenceFrame, Point3DReadOnly firstEndpoint, Vector3DReadOnly fromFirstToSecondEndpoint)
{
setReferenceFrame(referenceFrame);
set(firstEndpoint, fromFirstToSecondEndpoint);
}
/**
* Performs a transformation of the line segment 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 segment 2D can result in a line segment 3D. This method projects the
* result of the transformation onto the XY-plane.
*
*
* @param desiredFrame the reference frame in which the line segment is to be expressed.
*/
void changeFrameAndProjectToXYPlane(ReferenceFrame desiredFrame);
}
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