us.ihmc.euclid.referenceFrame.interfaces.FrameOrientation2DBasics Maven / Gradle / Ivy

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package us.ihmc.euclid.referenceFrame.interfaces;

import us.ihmc.euclid.orientation.interfaces.Orientation2DReadOnly;
import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;

/**
 * Write and read interface for a 2D orientation that is expressed in a mutable reference frame.
 * 
 * A 2D orientation is in the XY-plane, i.e. the yaw angle about the z-axis.
 * 
 *
 * @author Sylvain Bertrand
 */
public interface FrameOrientation2DBasics extends FixedFrameOrientation2DBasics, FrameChangeable
{
   /**
    * Sets the reference frame of this orientation 2D without updating or modifying its yaw angle.
    *
    * @param referenceFrame the new reference frame for this frame orientation 2D.
    */
   @Override
   void setReferenceFrame(ReferenceFrame referenceFrame);

   /**
    * Sets the yaw angle of this orientation 2D to zero and sets the current reference frame to
    * {@code referenceFrame}.
    *
    * @param referenceFrame the new reference frame to be associated with this orientation 2D.
    */
   default void setToZero(ReferenceFrame referenceFrame)
   {
      setReferenceFrame(referenceFrame);
      setToZero();
   }

   /**
    * Sets the yaw angle of this orientation 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 orientation 2D.
    */
   default void setToNaN(ReferenceFrame referenceFrame)
   {
      setReferenceFrame(referenceFrame);
      setToNaN();
   }

   /**
    * Sets the yaw angle of this orientation 2D and sets its reference frame to {@code referenceFrame}
    * 
    * Note that the argument is trimmed to be contained in [-pi, pi].
    * 

    *
    * @param referenceFrame the new reference frame for this frame orientation 2D.
    * @param yaw            the new value for the yaw angle of this orientation 2D.
    */
   default void setIncludingFrame(ReferenceFrame referenceFrame, double yaw)
   {
      setReferenceFrame(referenceFrame);
      setYaw(yaw);
   }

   /**
    * Sets this frame orientation 2D to {@code orientation2DReadOnly} and sets its current frame to
    * {@code referenceFrame}.
    *
    * @param referenceFrame        the new reference frame for this frame orientation 2D.
    * @param orientation2DReadOnly the orientation 2D to copy the values from. Not modified.
    */
   default void setIncludingFrame(ReferenceFrame referenceFrame, Orientation2DReadOnly orientation2DReadOnly)
   {
      setReferenceFrame(referenceFrame);
      set(orientation2DReadOnly);
   }

   /**
    * Sets this frame orientation 2D to {@code orientationReadOnly} and sets its current frame to
    * {@code referenceFrame}.
    *
    * @param referenceFrame      the new reference frame for this frame orientation 2D.
    * @param orientationReadOnly the orientation to get the yaw angle from. Not modified.
    */
   default void setIncludingFrame(ReferenceFrame referenceFrame, Orientation3DReadOnly orientationReadOnly)
   {
      setReferenceFrame(referenceFrame);
      set(orientationReadOnly);
   }

   /**
    * Sets this frame orientation 2D to {@code other}.
    *
    * @param other the other frame orientation 2D to copy the values and reference frame from. Not
    *              modified.
    */
   default void setIncludingFrame(FrameOrientation2DReadOnly other)
   {
      setIncludingFrame(other.getReferenceFrame(), other);
   }

   /**
    * Sets this frame orientation 2D to {@code frameOrientation3DReadOnly}.
    *
    * @param frameOrientation3DReadOnly the frame orientation to get the yaw angle and reference frame
    *                                   from. Not modified.
    */
   default void setIncludingFrame(FrameOrientation3DReadOnly frameOrientation3DReadOnly)
   {
      setIncludingFrame(frameOrientation3DReadOnly.getReferenceFrame(), frameOrientation3DReadOnly);
   }
}