public void setWorkCoordinate(Position p) { this.workCoord.set(p.getPositionIn(UnitUtils.Units.MM)); }
public void setMachineCoordinate(Position p) { this.machineCoord.set(p.getPositionIn(UnitUtils.Units.MM)); }
@Override public void setPositionToNaN() { position.set(Double.NaN, Double.NaN, Double.NaN); }
@Override public void setToZero() { super.set(0.0, 0.0, 0.0); }
@Override public void setPositionToZero() { position.set(0.0, 0.0, 0.0); }
@Override public void getPosition(Point3d positionToPack) { positionToPack.set(position); }
public void setLocation(Point3d location) { if (this.location == null) this.location = new Point3d(); this.location.set(location); }
@Override public void set(EuclideanWaypoint other) { position.set(other.position); linearVelocity.set(other.linearVelocity); }
@Override protected double distanceShapeFrame(Point3d point) { temporaryPoint.set(point); orthogonalProjectionShapeFrame(temporaryPoint); return temporaryPoint.distance(point); }
@Override protected double distanceShapeFrame(Point3d point) { tempPoint3d.set(point); orthogonalProjectionShapeFrame(tempPoint3d); return tempPoint3d.distance(point); }
@Override protected double distanceShapeFrame(Point3d point) { temporaryPoint.set(point); orthogonalProjectionShapeFrame(temporaryPoint); return temporaryPoint.distance(point); }
public void applyTransformToPoints(List<Point3D_F64> points, RigidBodyTransform transformToUse) { for (int i = 0; i < points.size(); i++) { tempPoint.set(points.get(i).x, points.get(i).y, points.get(i).z); transformToUse.transform(tempPoint); points.get(i).set(tempPoint.getX(), tempPoint.getY(), tempPoint.getZ()); } }
@Override protected boolean checkIfInsideShapeFrame(Point3d pointInWorldToCheck, Point3d closestPointToPack, Vector3d normalToPack) { surfaceNormalAt(normalToPack, pointInWorldToCheck); closestPointToPack.set(pointInWorldToCheck); orthogonalProjectionShapeFrame(closestPointToPack); return isInsideOrOnSurfaceShapeFrame(pointInWorldToCheck, Epsilons.ONE_TEN_MILLIONTH); }
public void closestIntersectionAndNormalAt(double x, double y, double z, Point3d intersectionToPack, Vector3d normalToPack) { GroundPoint groundPoint = getGroundPoint(x, y, z); normalToPack.set(groundPoint.getNormal()); intersectionToPack.set(groundPoint.getClosestIntersection()); }
public boolean isInValidCarRegion(double x, double y, double z) { tempPoint.set(x, y, z); transformToDesiredPelvis.transform(tempPoint); // inverseTransformFromNewPelvisToOldPelvis.transform(tempPoint); x = tempPoint.getX(); y = tempPoint.getY(); z = tempPoint.getZ(); return isPointInCarFrameWithinTemplateBounds(x, y, z); }
@Override protected void orthogonalProjectionShapeFrame(Point3d pointToCheckAndPack) { computeCompositeVectorsForPoint(originToRadiusTemporaryVector, tubeCenterToPointTemporaryVector, pointToCheckAndPack); if (tubeCenterToPointTemporaryVector.length() > tubeRadius) tubeCenterToPointTemporaryVector.scale(tubeRadius / tubeCenterToPointTemporaryVector.length()); tubeCenterToPointTemporaryVector.add(originToRadiusTemporaryVector); pointToCheckAndPack.set(tubeCenterToPointTemporaryVector); }
public void orthogonalProjection(Point3d pointToProject) { temporaryVector.set(pointToProject); temporaryVector.sub(this.point); double temporaryDouble = temporaryVector.dot(this.normal); temporaryVector.set(this.normal); temporaryVector.scale(temporaryDouble); temporaryVector.sub(pointToProject); temporaryVector.scale(-1.0); pointToProject.set(temporaryVector); }