/** * Performs the inverse of the transform to the given {@code tupleToTransform} by the rotation about * the z-axis described by this. * * <pre> * tupleToTransform = / cos(-yaw) -sin(-yaw) \ * tupleToTransform * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleToTransform the tuple to transform. Modified. */ default void inverseTransform(Tuple2DBasics tupleToTransform) { inverseTransform(tupleToTransform, tupleToTransform); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * tupleTransformed = / cos(-yaw) -sin(-yaw) \ * tupleOriginal * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleTransformed} do not match. */ default void inverseTransform(Tuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed) { checkReferenceFrameMatch(tupleTransformed); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * / cos(-yaw) -sin(-yaw) 0 \ * tupleTransformed = | sin(-yaw) cos(-yaw) 0 | * tupleOriginal * \ 0 0 1 / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleOriginal} do not match. */ default void inverseTransform(FrameTuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed) { checkReferenceFrameMatch(tupleOriginal); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleToTransform} by the rotation about * the z-axis described by this. * * <pre> * tupleToTransform = / cos(-yaw) -sin(-yaw) \ * tupleToTransform * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleToTransform the tuple to transform. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleToTransform} do not match. */ default void inverseTransform(FixedFrameTuple2DBasics tupleToTransform) { checkReferenceFrameMatch(tupleToTransform); Orientation2DReadOnly.super.inverseTransform(tupleToTransform); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * / cos(-yaw) -sin(-yaw) 0 \ * tupleTransformed = | sin(-yaw) cos(-yaw) 0 | * tupleOriginal * \ 0 0 1 / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleOriginal} do not match. */ default void inverseTransform(Tuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) { checkReferenceFrameMatch(tupleTransformed); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleToTransform} by the rotation about * the z-axis described by this. * * <pre> * / cos(-yaw) -sin(-yaw) 0 \ * tupleToTransform = | sin(-yaw) cos(-yaw) 0 | * tupleToTransform * \ 0 0 1 / * </pre> * * @param tupleToTransform the tuple to transform. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleToTransform} do not match. */ default void inverseTransform(FixedFrameTuple3DBasics tupleToTransform) { checkReferenceFrameMatch(tupleToTransform); Orientation2DReadOnly.super.inverseTransform(tupleToTransform); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * tupleTransformed = / cos(-yaw) -sin(-yaw) \ * tupleOriginal * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleOriginal} do not match. */ default void inverseTransform(FrameTuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed) { checkReferenceFrameMatch(tupleOriginal); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * tupleTransformed = / cos(-yaw) -sin(-yaw) \ * tupleOriginal * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. */ default void inverseTransform(Tuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed) { tupleTransformed.setToZero(getReferenceFrame()); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * / cos(-yaw) -sin(-yaw) 0 \ * tupleTransformed = | sin(-yaw) cos(-yaw) 0 | * tupleOriginal * \ 0 0 1 / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. */ default void inverseTransform(Tuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) { tupleTransformed.setToZero(getReferenceFrame()); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * tupleTransformed = / cos(-yaw) -sin(-yaw) \ * tupleOriginal * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this}, * {@code tupleOriginal}, and {@code tupleTransformed} do not match. */ default void inverseTransform(FrameTuple2DReadOnly tupleOriginal, FixedFrameTuple2DBasics tupleTransformed) { checkReferenceFrameMatch(tupleOriginal); checkReferenceFrameMatch(tupleTransformed); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * / cos(-yaw) -sin(-yaw) 0 \ * tupleTransformed = | sin(-yaw) cos(-yaw) 0 | * tupleOriginal * \ 0 0 1 / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this}, * {@code tupleOriginal}, and {@code tupleTransformed} do not match. */ default void inverseTransform(FrameTuple3DReadOnly tupleOriginal, FixedFrameTuple3DBasics tupleTransformed) { checkReferenceFrameMatch(tupleOriginal); checkReferenceFrameMatch(tupleTransformed); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * / cos(-yaw) -sin(-yaw) 0 \ * tupleTransformed = | sin(-yaw) cos(-yaw) 0 | * tupleOriginal * \ 0 0 1 / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleOriginal} do not match. */ default void inverseTransform(FrameTuple3DReadOnly tupleOriginal, FrameTuple3DBasics tupleTransformed) { checkReferenceFrameMatch(tupleOriginal); tupleTransformed.setToZero(getReferenceFrame()); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }
/** * Performs the inverse of the transform to the given {@code tupleOriginal} by the rotation about * the z-axis described by this and stores the result in {@code tupleTransformed}. * * <pre> * tupleTransformed = / cos(-yaw) -sin(-yaw) \ * tupleOriginal * \ sin(-yaw) cos(-yaw) / * </pre> * * @param tupleOriginal the tuple to be transformed. Not modified. * @param tupleTransformed the tuple in which the result is stored. Modified. * @throws ReferenceFrameMismatchException if reference frame of {@code this} and * {@code tupleOriginal} do not match. */ default void inverseTransform(FrameTuple2DReadOnly tupleOriginal, FrameTuple2DBasics tupleTransformed) { checkReferenceFrameMatch(tupleOriginal); tupleTransformed.setToZero(getReferenceFrame()); Orientation2DReadOnly.super.inverseTransform(tupleOriginal, tupleTransformed); }