/** * Gets a representative {@code String} of {@code denseMatrix64F} as follows: * * <pre> * / 0.253, 0.000, 0.000, 0.000, 0.554, -0.247 \ * | 0.000, 0.994, 0.000, -0.554, 0.000, 0.387 | * | 0.000, 0.000, 0.084, 0.247, -0.387, 0.000 | * | 0.000, -0.554, 0.247, 0.773, 0.000, 0.000 | * | 0.554, 0.000, -0.387, 0.000, 0.773, 0.000 | * \-0.247, 0.387, 0.000, 0.000, 0.000, 0.773 / * </pre> * * @param denseMatrix64F the object to get the {@code String} of. Not modified. * @return the representative {@code String}. */ public static String getDenseMatrix64FString(DenseMatrix64F denseMatrix64F) { return getDenseMatrix64FString(DEFAULT_FORMAT, denseMatrix64F); }
/** * Provides a {@code String} representation of this momentum vector as follows:<br> * Momentum: [angular = (x, y, z), linear = (x, y, z)] - expressedInFrame * * @return the {@code String} representing this momentum. */ @Override public String toString() { return MecanoIOTools.getMomentumString(this); } }
@Override public String toString() { return MecanoIOTools.getSpatialAccelerationString(this); } };
@Override public String toString() { return MecanoIOTools.getWrenchString(this); } };
/** * Provides a {@code String} representation of this twist as follows:<br> * Twist of bodyFrame, with respect to baseFrame: [angular = (x, y, z), linear = (x, y, z)] - * expressedInFrame * * @return the {@code String} representing this twist. */ @Override public String toString() { return MecanoIOTools.getTwistString(this); } }
/** * Provides a {@code String} representation of this spatial vector as follows:<br> * Spatial Vector: [angular = (x, y, z), linear = (x, y, z)] - expressedInFrame * * @return the {@code String} representing this spatial vector. */ @Override public String toString() { return MecanoIOTools.getSpatialVectorString(this); } }
/** * Gets a representative {@code String} of {@code spatialInertia} as follows: * * <pre> * Spatial inertia of bodyFrame expressed in World: * / 0.253, 0.000, 0.000, 0.000, 0.554, -0.247 \ * | 0.000, 0.994, 0.000, -0.554, 0.000, 0.387 | * | 0.000, 0.000, 0.084, 0.247, -0.387, 0.000 | * | 0.000, -0.554, 0.247, 0.773, 0.000, 0.000 | * | 0.554, 0.000, -0.387, 0.000, 0.773, 0.000 | * \-0.247, 0.387, 0.000, 0.000, 0.000, 0.773 / * </pre> * * @param spatialInertia the object to get the {@code String} of. Not modified. * @return the representative {@code String}. */ public static String getSpatialInertiaString(SpatialInertiaReadOnly spatialInertia) { return getSpatialInertiaString(DEFAULT_FORMAT, spatialInertia); }
/** * Provides a {@code String} representation of this spatial force vector as follows:<br> * Spatial Force: [angular = (x, y, z), linear = (x, y, z)] - expressedInFrame * * @return the {@code String} representing this spatial force vector. */ @Override public String toString() { return MecanoIOTools.getSpatialForceVectorString(this); } }
/** * Gets a representative {@code String} of {@code spatialForce} as follows: * * <pre> * Spatial Force: [angular = ( 0.174, 0.732, -0.222 ), linear = ( 0.174, 0.732, -0.222 )] - expressedInFrame * </pre> * </p> * * @param spatialForce the object to get the {@code String} of. Not modified. * @return the representative {@code String}. */ public static String getSpatialForceVectorString(SpatialForceReadOnly spatialForce) { return getSpatialForceString(DEFAULT_FORMAT, spatialForce); }
@Override public String toString() { return MecanoIOTools.getWrenchString(this); } };
@Override public String toString() { return MecanoIOTools.getTwistString(this); } };
/** * Gets a representative {@code String} of {@code spatialVector} as follows: * * <pre> * Spatial Vector: [angular = ( 0.174, 0.732, -0.222 ), linear = ( 0.174, 0.732, -0.222 )] - expressedInFrame * </pre> * </p> * * @param spatialVector the object to get the {@code String} of. Not modified. * @return the representative {@code String}. */ public static String getSpatialVectorString(SpatialVectorReadOnly spatialVector) { return getSpatialVectorString(DEFAULT_FORMAT, spatialVector); }
/** * Provides a {@code String} representation of this spatial inertia matrix as follows:<br> * * <pre> * Spatial inertia of bodyFrame expressed in World: * / 0.253, 0.000, 0.000, 0.000, 0.554, -0.247 \ * | 0.000, 0.994, 0.000, -0.554, 0.000, 0.387 | * | 0.000, 0.000, 0.084, 0.247, -0.387, 0.000 | * | 0.000, -0.554, 0.247, 0.773, 0.000, 0.000 | * | 0.554, 0.000, -0.387, 0.000, 0.773, 0.000 | * \-0.247, 0.387, 0.000, 0.000, 0.000, 0.773 / * </pre> * * * @return the {@code String} representing this spatial inertia matrix. */ @Override public String toString() { return MecanoIOTools.getSpatialInertiaString(this); } }
/** * Gets a representative {@code String} of {@code spatialForce} given a specific format to use. * <p> * Using the default format {@link #DEFAULT_FORMAT}, this provides a {@code String} as follows: * * <pre> * Spatial Force: [angular = ( 0.174, 0.732, -0.222 ), linear = ( 0.174, 0.732, -0.222 )] - expressedInFrame * </pre> * </p> * * @param format the format to use for each number. * @param spatialForce the object to get the {@code String} of. Not modified. * @return the representative {@code String}. */ public static String getSpatialForceString(String format, SpatialForceReadOnly spatialForce) { if (spatialForce == null) return "null"; else return getSpatialForceVectorString(format, spatialForce.getReferenceFrame(), spatialForce.getAngularPart(), spatialForce.getLinearPart()); }
private static void throwNotEqualAssertionError(String messagePrefix, SpatialForceReadOnly expected, SpatialForceReadOnly actual, String format) { String expectedAsString = getSpatialForceString(format, expected); String actualAsString = getSpatialForceString(format, actual); throwNotEqualAssertionError(messagePrefix, expectedAsString, actualAsString, Double.toString(computeNormError(expected, actual))); }
@Override public String toString() { return MecanoIOTools.getWrenchString(this); } };
@Override public String toString() { return MecanoIOTools.getSpatialAccelerationString(this); } };
@Override public String toString() { return MecanoIOTools.getTwistString(this); } };
private static void throwNotEqualAssertionError(String messagePrefix, SpatialVectorReadOnly expected, SpatialVectorReadOnly actual, String format) { String expectedAsString = getSpatialVectorString(format, expected); String actualAsString = getSpatialVectorString(format, actual); throwNotEqualAssertionError(messagePrefix, expectedAsString, actualAsString, Double.toString(computeNormError(expected, actual))); }
/** * Gets a representative {@code String} of {@code momentum} as follows: * * <pre> * Momentum: [angular = ( 0.174, 0.732, -0.222 ), linear = ( 0.174, 0.732, -0.222 )] - expressedInFrame * </pre> * </p> * * @param momentum the object to get the {@code String} of. Not modified. * @return the representative {@code String}. */ public static String getMomentumString(MomentumReadOnly momentum) { return getMomentumString(DEFAULT_FORMAT, momentum); }