/** * Multiply this matrix by the tuple t and place the result * back into the tuple (t = this*t). * @param t the tuple to be multiplied by this matrix and then replaced */ public final void transform(Tuple3d t) { double x,y,z; x = m00* t.x + m01*t.y + m02*t.z; y = m10* t.x + m11*t.y + m12*t.z; z = m20* t.x + m21*t.y + m22*t.z; t.set(x,y,z); }
tupleTransformed.set(tupleOriginal); return;
@Override public final void set(Tuple3d tuple) { this.tuple.set(tuple); }
public void getPosition(Tuple3d tupleToPack) { tupleToPack.set(position); }
@Override public final void setToNaN(ReferenceFrame referenceFrame) { this.tuple.set(Double.NaN, Double.NaN, Double.NaN); this.referenceFrame = referenceFrame; }
public void getTraslation(Tuple3d translationToPack) { translationToPack.set(translation); }
public final void set(Tuple3f tuple) { this.tuple.set(tuple); }
/** * Get the the average of the current dataset. * @param meanToPack */ public void getMean(Tuple3d meanToPack) { meanToPack.set(mean); }
@Override public final void get(Tuple3d tuple3dToPack) { tuple3dToPack.set(tuple); }
@Override public final void setToZero() { tuple.set(0.0, 0.0, 0.0); }
@Override public final void setToNaN() { this.tuple.set(Double.NaN, Double.NaN, Double.NaN); }
public void getTranslation(Tuple3d translationToPack) { translationToPack.set(jointTranslation); }
public final void set(FrameTuple<?, ?> frameTuple) { checkReferenceFrameMatch(frameTuple); this.tuple.set(frameTuple.tuple); }
/** * Pack this tuple2d in tuple3dToPack and tuple3dToPack.z = 0.0. * @param tuple3dToPack {@code Tuple3d} */ public final void get(Tuple3d tuple3dToPack) { tuple3dToPack.set(tuple.getX(), tuple.getY(), 0.0); }
private static void setVecmathFieldFromRosGeometryMessage(Message rosMessage, Packet<?> ihmcMessage, Method rosGetter, Field ihmcField, Class<?> ihmcMessageFieldType) throws IllegalAccessException, InvocationTargetException, InstantiationException { if(ihmcMessageFieldType.equals(Point2d.class)) { Point2d point2d = convertPoint2DRos((Point2dRosMessage) rosGetter.invoke(rosMessage)); ihmcField.set(ihmcMessage, point2d); } else { if(rosGetter.getReturnType().equals(Quaternion.class)) { Tuple4d newTuple = (Tuple4d) ihmcField.getType().newInstance(); newTuple.set(convertQuaternion((Quaternion) rosGetter.invoke(rosMessage))); ihmcField.set(ihmcMessage, newTuple); } else if(rosGetter.getReturnType().equals(Vector3.class)) { Tuple3d newTuple = (Tuple3d) ihmcField.getType().newInstance(); newTuple.set(convertVector3((Vector3) rosGetter.invoke(rosMessage))); ihmcField.set(ihmcMessage, newTuple); } } }
public static void packJMEVector3fInVecMathTuple3d(Vector3f original, Tuple3d target) { target.set(original.getX(), original.getY(), original.getZ()); }