if (!getAngularPart().geometricallyEquals(getAngularPart(), epsilon)) return false; if (!getLinearPart().geometricallyEquals(getLinearPart(), epsilon)) return false; return true;
if (!getAngularPart().geometricallyEquals(other.getAngularPart(), epsilon)) return false; if (!getLinearPart().geometricallyEquals(other.getLinearPart(), epsilon)) return false; return true;
if (!getAngularPart().geometricallyEquals(other.getAngularPart(), epsilon)) return false; if (!getLinearPart().geometricallyEquals(other.getLinearPart(), epsilon)) return false; return true;
/** * Tests if {@code this} and {@code other} represent the same wrench to an {@code epsilon}. * <p> * It is likely that the implementation of this method will change in the future as the * definition of "geometrically-equal" for wrenches might evolve. In the meantime, the current * assumption is that two wrenches are geometrically equal if both their 3D torque and 3D force * are independently geometrically equal, see * {@link Vector3DReadOnly#geometricallyEquals(Vector3DReadOnly, double)}. * </p> * <p> * Note that {@code this.geometricallyEquals(other, epsilon) == true} does not necessarily imply * {@code this.epsilonEquals(other, epsilon)} and vice versa. * </p> * * @param other the other wrench to compare against this. Not modified. * @param epsilon the tolerance to use for the comparison. * @return {@code true} if the two wrenches represent the same physical quantity, {@code false} * otherwise. * @throws ReferenceFrameMismatchException if the reference frames of {@code other} do not * respectively match the reference frames of {@code this}. */ default boolean geometricallyEquals(WrenchReadOnly other, double epsilon) { checkReferenceFrameMatch(other); if (!getAngularPart().geometricallyEquals(getAngularPart(), epsilon)) return false; if (!getLinearPart().geometricallyEquals(getLinearPart(), epsilon)) return false; return true; }
if (jointAxis.geometricallyEquals(Axis.X, TRANSFORM_UPDATER_EPSILON)) else if (jointAxis.geometricallyEquals(Axis.Y, TRANSFORM_UPDATER_EPSILON)) else if (jointAxis.geometricallyEquals(Axis.Z, TRANSFORM_UPDATER_EPSILON))