agi.foundation.coordinates

(agi.foundation.core-2024r3.jar)

Class KinematicTransformation

java.lang.Object

agi.foundation.coordinates.KinematicTransformation

All Implemented Interfaces:

IEquatable<KinematicTransformation>, ImmutableValueType, ValueType

public final class KinematicTransformation
extends Object
implements IEquatable<KinematicTransformation>, ImmutableValueType

A kinematic transformation describing how to transform from one reference frame to another.

Constructor Summary

Constructors

Constructor and Description
KinematicTransformation() Initializes a new instance.
KinematicTransformation(Cartesian translation, Cartesian translationalVelocity, Cartesian translationalAcceleration, Motion2<UnitQuaternion,Cartesian> rotationalTransformation) Initializes a new instance with the specified translational parameters and RotationalMotion (get).
KinematicTransformation(Cartesian translation, Cartesian translationalVelocity, Cartesian translationalAcceleration, UnitQuaternion rotation, Cartesian rotationalVelocity, Cartesian rotationalAcceleration) Initializes a new instance with the specified translational and rotational parameters.
KinematicTransformation(Motion1<Cartesian> translationalMotion, Motion2<UnitQuaternion,Cartesian> rotationalMotion) Initializes a new instance from the specified translational and rotational motion.

Method Summary

Modifier and Type	Method and Description
KinematicTransformation	compose(KinematicTransformation other) Forms a new KinematicTransformation as the composition of this transformation and the provided transformation.
KinematicTransformation	compose(KinematicTransformation other, int order) Forms a new KinematicTransformation as the composition of this transformation and the provided transformation.
static boolean	equals(KinematicTransformation left, KinematicTransformation right) Returns true if the two instances are exactly equal.
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
boolean	equalsType(KinematicTransformation other) Indicates whether another instance of this type is exactly equal to this instance.
UnitQuaternion	getRotation() Gets the relative rotation between the reference frames.
Cartesian	getRotationalAcceleration() Gets the rotational acceleration of the second reference frame relative to and expressed in the first reference frame.
Motion2<UnitQuaternion,Cartesian>	getRotationalMotion() Gets the rotational portion of this transformation.
int	getRotationalOrder() Gets the number of rotational motion derivatives described by this transformation.
Cartesian	getRotationalVelocity() Gets the rotational velocity of the second reference frame relative to and expressed in the first reference frame.
Cartesian	getTranslation() Gets the relative position vector between the reference frames.
Cartesian	getTranslationalAcceleration() Gets the relative acceleration vector between the reference frames.
Motion1<Cartesian>	getTranslationalMotion() Gets the translational portion of this transformation.
int	getTranslationalOrder() Gets the number of translational motion derivatives described by this transformation.
Cartesian	getTranslationalVelocity() Gets the relative velocity vector between the reference frames.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
KinematicTransformation	invert() Forms the inverse kinematic transformation.
KinematicTransformation	invert(int order) Forms the inverse kinematic transformation.
static boolean	notEquals(KinematicTransformation left, KinematicTransformation right) Returns true if the two instances are not exactly equal.
Cartesian	transform(Cartesian position) Transforms the position observed in the A frame to the B frame.
Motion1<Cartesian>	transform(Motion1<Cartesian> motion) Transforms the motion observed in the A frame to the B frame.
Motion1<Cartesian>	transform(Motion1<Cartesian> motion, int order) Transforms the motion observed in the A frame to the B frame.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

KinematicTransformation

public KinematicTransformation()

Initializes a new instance.

KinematicTransformation

public KinematicTransformation(@Nonnull
                               Cartesian translation,
                               @Nonnull
                               Cartesian translationalVelocity,
                               @Nonnull
                               Cartesian translationalAcceleration,
                               @Nonnull
                               UnitQuaternion rotation,
                               @Nonnull
                               Cartesian rotationalVelocity,
                               @Nonnull
                               Cartesian rotationalAcceleration)

Initializes a new instance with the specified translational and rotational parameters.

Parameters:

translation - The translation.

translationalVelocity - The translational velocity.

translationalAcceleration - The translational acceleration.

rotation - The rotation.

rotationalVelocity - The rotational velocity.

rotationalAcceleration - The rotational acceleration.

KinematicTransformation

public KinematicTransformation(@Nonnull
                               Cartesian translation,
                               @Nonnull
                               Cartesian translationalVelocity,
                               @Nonnull
                               Cartesian translationalAcceleration,
                               @Nonnull
                               Motion2<UnitQuaternion,Cartesian> rotationalTransformation)

Initializes a new instance with the specified translational parameters and RotationalMotion (get).

Parameters:

translation - The translation.

translationalVelocity - The translational velocity.

translationalAcceleration - The translational acceleration.

rotationalTransformation - The rotational transformation.

KinematicTransformation

public KinematicTransformation(@Nonnull
                               Motion1<Cartesian> translationalMotion,
                               @Nonnull
                               Motion2<UnitQuaternion,Cartesian> rotationalMotion)

Initializes a new instance from the specified translational and rotational motion.

Parameters:

translationalMotion - The translational portion of the transformation.

rotationalMotion - The rotational portion of the transformation.

Method Detail

getTranslationalMotion

@Nonnull
public final Motion1<Cartesian> getTranslationalMotion()

Gets the translational portion of this transformation.

getRotationalMotion

@Nonnull
public final Motion2<UnitQuaternion,Cartesian> getRotationalMotion()

Gets the rotational portion of this transformation.

getTranslationalOrder

public final int getTranslationalOrder()

Gets the number of translational motion derivatives described by this transformation. If this property is 0, only position information is available. If this property is 1 or above, velocity information is available. If this property is 2 or above, acceleration information is available. If this property is above 2, further derivatives are available.

getRotationalOrder

public final int getRotationalOrder()

Gets the number of rotational motion derivatives described by this transformation. If this property is 0, only rotation information is available. If this property is 1 or above, rotational velocity information is available. If this property is 2 or above, rotational acceleration information is available. If this property is above 2, further derivatives are available.

getTranslation

@Nonnull
public final Cartesian getTranslation()

Gets the relative position vector between the reference frames.

getTranslationalVelocity

@Nonnull
public final Cartesian getTranslationalVelocity()

Gets the relative velocity vector between the reference frames.

Throws:

IllegalStateException - Thrown when this transformation does not include translational velocity information.

getTranslationalAcceleration

@Nonnull
public final Cartesian getTranslationalAcceleration()

Gets the relative acceleration vector between the reference frames.

Throws:

IllegalStateException - Thrown when this transformation does not include translational acceleration information.

getRotation

@Nonnull
public final UnitQuaternion getRotation()

Gets the relative rotation between the reference frames.

getRotationalVelocity

@Nonnull
public final Cartesian getRotationalVelocity()

Gets the rotational velocity of the second reference frame relative to and expressed in the first reference frame. If this transformation does not include rotational velocity information, an IllegalStateException is thrown.

Throws:

IllegalStateException - Thrown when the transformation does not have rotational velocity information.

getRotationalAcceleration

@Nonnull
public final Cartesian getRotationalAcceleration()

Gets the rotational acceleration of the second reference frame relative to and expressed in the first reference frame. If this transformation does not include rotational acceleration information, an IllegalStateException is thrown.

Throws:

IllegalStateException - Thrown when the transformation does not include rotational acceleration information.

invert

@Nonnull
public final KinematicTransformation invert()

Forms the inverse kinematic transformation. If this transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "B" and reference frame "A".

Returns:

The transformation between reference frame "B" and reference frame "A".

invert

@Nonnull
public final KinematicTransformation invert(int order)

Forms the inverse kinematic transformation. If this transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "B" and reference frame "A".

Parameters:

order - The order of highest required derivative. To retrieve just the position, pass 0 for this value. To retrieve the velocity as well, pass 1. etc.

Returns:

The transformation between reference frame "B" and reference frame "A".

transform

@Nonnull
public final Motion1<Cartesian> transform(@Nonnull
                                                    Motion1<Cartesian> motion)

Transforms the motion observed in the A frame to the B frame.

Parameters:

motion - The motion to transform.

Returns:

The transformed motion.

transform

@Nonnull
public final Motion1<Cartesian> transform(@Nonnull
                                                    Motion1<Cartesian> motion,
                                                    int order)

Transforms the motion observed in the A frame to the B frame.

Parameters:

motion - The motion to transform.

order - The order of highest required derivative. To retrieve just the position, pass 0 for this value. To retrieve the velocity as well, pass 1. etc.

Returns:

The transformed motion.

transform

@Nonnull
public final Cartesian transform(@Nonnull
                                           Cartesian position)

Transforms the position observed in the A frame to the B frame.

Parameters:

position - The position to transform.

Returns:

The transformed position.

compose

@Nonnull
public final KinematicTransformation compose(@Nonnull
                                                       KinematicTransformation other)

Forms a new KinematicTransformation as the composition of this transformation and the provided transformation. If this transformation represents the transformation between reference frame "B" and reference frame "C" and the provided transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "A" and reference frame "C".

Parameters:

other - The transformation between reference frame "A" and reference frame "B".

Returns:

The transformation between reference frame "A" and reference frame "C".

compose

@Nonnull
public final KinematicTransformation compose(@Nonnull
                                                       KinematicTransformation other,
                                                       int order)

Forms a new KinematicTransformation as the composition of this transformation and the provided transformation. If this transformation represents the transformation between reference frame "B" and reference frame "C" and the provided transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "A" and reference frame "C".

Parameters:

other - The transformation between reference frame "A" and reference frame "B".

order - The order of highest required derivative. To retrieve just the position, pass 0 for this value. To retrieve the velocity as well, pass 1. etc.

Returns:

The transformation between reference frame "A" and reference frame "C".

equals

public boolean equals(Object obj)

Indicates whether another object is exactly equal to this instance.

Overrides:

equals in class Object

Parameters:

obj - The object to compare to this instance.

Returns:

true if obj is an instance of this type and represents the same value as this instance; otherwise false.

See Also:

Object.hashCode(), HashMap

equalsType

public final boolean equalsType(@Nonnull
                                KinematicTransformation other)

Indicates whether another instance of this type is exactly equal to this instance.

Specified by:

equalsType in interface IEquatable<KinematicTransformation>

Parameters:

other - The instance to compare to this instance.

Returns:

true if other represents the same value as this instance; otherwise false.

hashCode

public int hashCode()

Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.

Overrides:

hashCode in class Object

Returns:

A hash code for the current object.

See Also:

Object.equals(java.lang.Object), System.identityHashCode(java.lang.Object)

equals

public static boolean equals(@Nonnull
                             KinematicTransformation left,
                             @Nonnull
                             KinematicTransformation right)

Returns true if the two instances are exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left represents the same value as right; otherwise false.

notEquals

public static boolean notEquals(@Nonnull
                                KinematicTransformation left,
                                @Nonnull
                                KinematicTransformation right)

Returns true if the two instances are not exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left does not represent the same value as right; otherwise false.