public final double get(Direction direction) { switch (direction) { case X: return getX(); case Y: return getY(); case Z: return getZ(); default: throw new IndexOutOfBoundsException(); } }
/** * Negates the value of this YoFrameTuple in place. */ public final void negate() { set(-getX(), -getY(), -getZ()); }
public final void getFrameTupleIncludingFrame(FrameTuple<?, ?> frameTuple) { frameTuple.setIncludingFrame(getReferenceFrame(), getX(), getY(), getZ()); }
public static void insertYoFrameTupleIntoEJMLVector(YoFrameTuple<?, ?> yoFrameTuple, DenseMatrix64F ejmlVector, int startIndex) { ejmlVector.set(startIndex + 0, 0, yoFrameTuple.getX()); ejmlVector.set(startIndex + 1, 0, yoFrameTuple.getY()); ejmlVector.set(startIndex + 2, 0, yoFrameTuple.getZ()); }
public void update(YoFrameTuple<?, ?> yoFrameTuple) { checkReferenceFrameMatch(yoFrameTuple.getReferenceFrame()); xDot.update(yoFrameTuple.getX()); yDot.update(yoFrameTuple.getY()); zDot.update(yoFrameTuple.getZ()); }