us.ihmc.euclid.tuple3D.interfaces

Interface Vector3DBasics

All Superinterfaces:

Clearable, Transformable, Tuple3DBasics, Tuple3DReadOnly, Vector3DReadOnly

All Known Implementing Classes:

Vector3D, Vector3D32

public interface Vector3DBasics
extends Tuple3DBasics, Vector3DReadOnly, Transformable

Write and read interface for a 3 dimensional vector.

A 3D vector represents a physical quantity with a magnitude and a direction. For instance, it can be used to represent a 3D velocity, force, or translation from one 3D point to another.

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.

Field Summary

Fields

Modifier and Type	Field and Description
static double	EPS_MAX_LENGTH Tolerance used in clipToMaxLength(double).

Method Summary

Modifier and Type	Method and Description
default void	applyInverseTransform(Transform transform) Transforms this vector by the inverse of the given transform.
default void	applyTransform(Transform transform) Transforms this vector by the given transform.
default boolean	clipToMaxLength(double maxLength) Limits the magnitude of this vector to maxLength.
default void	cross(Tuple3DReadOnly other) Sets this vector to the cross product of this and other.
default void	cross(Tuple3DReadOnly tuple1, Tuple3DReadOnly tuple2) Sets this vector to the cross product of tuple1 and tuple2.
default void	normalize() Normalizes this vector such that its magnitude is equal to 1 after calling this method and its direction remains unchanged.
default void	setAndNormalize(Tuple3DReadOnly other) Sets this vector to other and then calls normalize().

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.Vector3DReadOnly

angle, dot, geometricallyEquals, length, lengthSquared

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

Field Detail

EPS_MAX_LENGTH

static final double EPS_MAX_LENGTH

Tolerance used in clipToMaxLength(double).

See Also:

Constant Field Values

Method Detail

normalize

default void normalize()

Normalizes this vector such that its magnitude is equal to 1 after calling this method and its direction remains unchanged.

Edge cases:

• if this vector contains Double.NaN, this method is ineffective.

setAndNormalize

default void setAndNormalize(Tuple3DReadOnly other)

Sets this vector to other and then calls normalize().

Parameters:

other - the other vector to copy the values from. Not modified.

cross

default void cross(Tuple3DReadOnly other)

Sets this vector to the cross product of this and other.

this = this × other

Parameters:

other - the other tuple used in the cross product. Not modified.

cross

default void cross(Tuple3DReadOnly tuple1,
                   Tuple3DReadOnly tuple2)

Sets this vector to the cross product of tuple1 and tuple2.

this = tuple1 × tuple2

Parameters:

tuple1 - the first tuple in the cross product. Not modified.

tuple2 - the second tuple in the cross product. Not modified.

clipToMaxLength

default boolean clipToMaxLength(double maxLength)

Limits the magnitude of this vector to maxLength.

If the length of this vector is less than maxLength, this method does nothing. When it is greater than maxLength, this vector is scaled such that it length is equal to maxLength and its direction is preserved.

Edge case: if maxLength < 1.0E-7, this vector is set to zero.

Parameters:

maxLength - the maximum allowed length for this vector.

Returns:

whether the length of this vector has been changed or not.

applyTransform

default void applyTransform(Transform transform)

Transforms this vector by the given transform.

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

• RigidBodyTransform rotates a vector.
• QuaternionBasedTransform rotates a vector.
• AffineTransform scales then rotates a vector.

Specified by:

applyTransform in interface Transformable

Parameters:

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

applyInverseTransform

default void applyInverseTransform(Transform transform)

Transforms this vector by the inverse of the given transform.

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

• RigidBodyTransform rotates a vector.
• QuaternionBasedTransform rotates a vector.
• AffineTransform scales then rotates a vector.

Specified by:

applyInverseTransform in interface Transformable

Parameters:

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