us.ihmc.euclid.tuple3D.interfaces

Interface Point3DBasics

All Superinterfaces:

Clearable, Point3DReadOnly, Transformable, Tuple3DBasics, Tuple3DReadOnly

All Known Implementing Classes:

Point3D, Point3D32

public interface Point3DBasics
extends Tuple3DBasics, Point3DReadOnly, Transformable

Write and read interface for a 3 dimensional point.

A 3D point represents the 3D coordinates of a location in space.

Although a point and vector hold onto the same type of information, the distinction is made between them as they represent different geometry objects and are typically not handled the same way:

• a point represents the coordinate of a location in space. A notable difference with a vector is that the distance between two points has a physical meaning. When a point is transformed with a homogeneous transformation matrix, a point's coordinates are susceptible to be scaled, rotated, and translated.
• a vector is not constrained to a location in space. Instead, a vector represents some physical quantity that has a direction and a magnitude such as: a velocity, a force, the translation from one point to another, etc. When a vector is transformed with a homogeneous transformation matrix, its components are susceptible to be scaled and rotated, but never to be translated.

Method Summary

Modifier and Type	Method and Description
default void	applyInverseTransform(Transform transform) Transforms this point by the inverse of the given transform.
default void	applyTransform(Transform transform) Transforms this point by the given transform.

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Tuple3DBasics

absolute, add, add, add, addX, addY, addZ, clipToMax, clipToMin, clipToMinMax, containsNaN, interpolate, interpolate, negate, scale, scale, scaleAdd, scaleAdd, scaleSub, scaleSub, set, set, set, set, set, set, set, set, set, set, set, setAndAbsolute, setAndClipToMax, setAndClipToMin, setAndClipToMinMax, setAndNegate, setAndScale, setElement, setToNaN, setToZero, setX, setY, setZ, sub, sub, sub, subX, subY, subZ

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly

distance, distanceFromOrigin, distanceFromOriginSquared, distanceSquared, distanceXY, distanceXY, distanceXYSquared, distanceXYSquared, geometricallyEquals

Methods inherited from interface us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly

epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getX, getX32, getY, getY32, getZ, getZ32

Method Detail

applyTransform

default void applyTransform(Transform transform)

Transforms this point by the given transform.

The transformation depends on the implementation of the transform, here are a few examples:

• RigidBodyTransform rotates then translates a point.
• QuaternionBasedTransform rotates then translates a point.
• AffineTransform scales, rotates, then translates a point.

Specified by:

applyTransform in interface Transformable

Parameters:

transform - the geometric transform to apply on this point. Not modified.

applyInverseTransform

default void applyInverseTransform(Transform transform)

Transforms this point by the inverse of the given transform.

The transformation depends on the implementation of the transform, here are a few examples:

• RigidBodyTransform rotates then translates a point.
• QuaternionBasedTransform rotates then translates a point.
• AffineTransform scales, rotates, then translates a point.

Specified by:

applyInverseTransform in interface Transformable

Parameters:

transform - the geometric transform to apply on this point. Not modified.