/** * Sets this pose 3D from the given pose 3D and sets the reference frame. * * @param referenceFrame the new reference frame. * @param pose3DReadOnly the pose 3D used to sets the position and orientation. Not modified. */ default void setIncludingFrame(ReferenceFrame referenceFrame, Pose3DReadOnly pose3DReadOnly) { setReferenceFrame(referenceFrame); set(pose3DReadOnly); }
/** * Sets the position and orientation parts of this pose 3D to zero and sets the current reference * frame to {@code referenceFrame}. * * @param referenceFrame the new reference frame to be associated with this pose 3D. */ default void setToZero(ReferenceFrame referenceFrame) { setReferenceFrame(referenceFrame); setToZero(); }
/** * Sets the position and position parts of this pose 3D to {@link Double#NaN} and sets the current * reference frame to {@code referenceFrame}. * * @param referenceFrame the new reference frame to be associated with this pose 3D. */ default void setToNaN(ReferenceFrame referenceFrame) { setReferenceFrame(referenceFrame); setToNaN(); }
/** * Sets this pose 3D to represent the same pose as the given {@code pose2DReadOnly} expressed in the * given {@code referenceFrame}. * * @param referenceFrame the new reference frame. * @param pose2DReadOnly the pose 2D used to set this pose. Not modified. */ default void setIncludingFrame(ReferenceFrame referenceFrame, Pose2DReadOnly pose2DReadOnly) { setReferenceFrame(referenceFrame); set(pose2DReadOnly); }
/** * Sets this pose 3D from the given reference frame and transform. * * @param referenceFrame the new reference frame. * @param rigidBodyTransform the transform used to set the pose. Not modified. */ default void setIncludingFrame(ReferenceFrame referenceFrame, RigidBodyTransform rigidBodyTransform) { setReferenceFrame(referenceFrame); set(rigidBodyTransform); }
/** * Sets reference frame, position, and orientation. * * @param referenceFrame the new reference frame. * @param position the tuple with the new position coordinates. Not modified. * @param orientation the new orientation. Not modified. */ default void setIncludingFrame(ReferenceFrame referenceFrame, Tuple3DReadOnly position, Orientation3DReadOnly orientation) { setReferenceFrame(referenceFrame); set(position, orientation); }
/** * Sets reference frame, position, and orientation. * * @param position the tuple with the new position coordinates. Not modified. * @param orientation the new orientation. Not modified. * @throws ReferenceFrameMismatchException if {@code position} and {@code orientation} are not * expressed in the same reference frame. */ default void setIncludingFrame(FrameTuple3DReadOnly position, FrameOrientation3DReadOnly orientation) { position.checkReferenceFrameMatch(orientation); setReferenceFrame(position.getReferenceFrame()); set((Tuple3DReadOnly) position, (Orientation3DReadOnly) orientation); }