Merge branch 'release/0.18.1'

ihmcrobotics · Jun 30, 2022 · 08aadc0 · 08aadc0
2 parents a5385ba + 3504597
commit 08aadc0
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Showing 135 changed files with 2,505 additions and 377 deletions.
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -5,7 +5,7 @@ plugins {
 
 ihmc {
    group = "us.ihmc"
-   version = "0.18.0"
+   version = "0.18.1"
    vcsUrl = "https://github.com/ihmcrobotics/euclid"
    openSource = true
 

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FixedFrameShape3DPose.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FixedFrameShape3DPose.java
@@ -4,6 +4,8 @@
 import java.util.List;
 
 import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly;
+import us.ihmc.euclid.interfaces.Settable;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameRotationMatrixBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameShape3DPoseBasics;
@@ -24,7 +26,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FixedFrameShape3DPose implements FixedFrameShape3DPoseBasics
+public class FixedFrameShape3DPose implements FixedFrameShape3DPoseBasics, Settable<FixedFrameShape3DPose>
 {
    /** The listeners to be notified when this pose changes. */
    private final List<Shape3DChangeListener> changeListeners = new ArrayList<>();
@@ -90,6 +92,13 @@ public FixedFrameShape3DPose(ReferenceFrameHolder referenceFrameHolder, Pose3DRe
       set(pose);
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FixedFrameShape3DPose other)
+   {
+      FixedFrameShape3DPoseBasics.super.set(other);
+   }
+
    /** {@inheritDoc} */
    @Override
    public ReferenceFrame getReferenceFrame()
@@ -181,7 +190,7 @@ public boolean removeChangeListener(Shape3DChangeListener listener)
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameShape3DPoseReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two poses have different frames, this method returns {@code false}.
     * </p>
@@ -194,7 +203,7 @@ public boolean removeChangeListener(Shape3DChangeListener listener)
    public boolean equals(Object object)
    {
       if (object instanceof FrameShape3DPoseReadOnly)
-         return FixedFrameShape3DPoseBasics.super.equals((FrameShape3DPoseReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameBox3D.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameBox3D.java
@@ -4,8 +4,10 @@
 import java.util.List;
 
 import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly;
+import us.ihmc.euclid.interfaces.Settable;
 import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameShape3DPoseBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameVector3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameBox3DBasics;
@@ -34,7 +36,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameBox3D implements FrameBox3DBasics
+public class FrameBox3D implements FrameBox3DBasics, Settable<FrameBox3D>
 {
    private final List<Shape3DChangeListener> changeListeners = new ArrayList<>();
    /** The reference frame in which this shape is expressed. */
@@ -384,6 +386,13 @@ public void setIntermediateVariableSupplier(IntermediateVariableSupplier newSupp
       supplier = newSupplier;
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FrameBox3D other)
+   {
+      FrameBox3DBasics.super.set(other);
+   }
+
    /** {@inheritDoc} */
    @Override
    public FrameBox3D copy()
@@ -453,7 +462,7 @@ public boolean removeChangeListener(Shape3DChangeListener listener)
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameBox3DReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two faces have different frames, this method returns {@code false}.
     * </p>
@@ -466,7 +475,7 @@ public boolean removeChangeListener(Shape3DChangeListener listener)
    public boolean equals(Object object)
    {
       if (object instanceof FrameBox3DReadOnly)
-         return FrameBox3DBasics.super.equals((FrameBox3DReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameCapsule3D.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameCapsule3D.java
@@ -1,7 +1,9 @@
 package us.ihmc.euclid.referenceFrame;
 
 import us.ihmc.euclid.Axis3D;
+import us.ihmc.euclid.interfaces.Settable;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameUnitVector3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameCapsule3DBasics;
@@ -24,7 +26,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameCapsule3D implements FrameCapsule3DBasics
+public class FrameCapsule3D implements FrameCapsule3DBasics, Settable<FrameCapsule3D>
 {
    /** The reference frame in which this shape is expressed. */
    private ReferenceFrame referenceFrame;
@@ -136,6 +138,13 @@ public FrameCapsule3D(FrameCapsule3DReadOnly other)
       setIncludingFrame(other);
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FrameCapsule3D other)
+   {
+      FrameCapsule3DBasics.super.set(other);
+   }
+
    /** {@inheritDoc} */
    @Override
    public void setReferenceFrame(ReferenceFrame referenceFrame)
@@ -227,7 +236,7 @@ public FrameCapsule3D copy()
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameCapsule3DReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two capsules have different frames, this method returns {@code false}.
     * </p>
@@ -240,7 +249,7 @@ public FrameCapsule3D copy()
    public boolean equals(Object object)
    {
       if (object instanceof FrameCapsule3DReadOnly)
-         return FrameCapsule3DBasics.super.equals((FrameCapsule3DReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameCylinder3D.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameCylinder3D.java
@@ -1,7 +1,9 @@
 package us.ihmc.euclid.referenceFrame;
 
 import us.ihmc.euclid.Axis3D;
+import us.ihmc.euclid.interfaces.Settable;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameUnitVector3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameCylinder3DBasics;
@@ -24,7 +26,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameCylinder3D implements FrameCylinder3DBasics
+public class FrameCylinder3D implements FrameCylinder3DBasics, Settable<FrameCylinder3D>
 {
    /** The reference frame in which this shape is expressed. */
    private ReferenceFrame referenceFrame;
@@ -136,6 +138,13 @@ public FrameCylinder3D(FrameCylinder3DReadOnly other)
       setIncludingFrame(other);
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FrameCylinder3D other)
+   {
+      FrameCylinder3DBasics.super.set(other);
+   }
+
    /** {@inheritDoc} */
    @Override
    public void setReferenceFrame(ReferenceFrame referenceFrame)
@@ -227,7 +236,7 @@ public FrameCylinder3D copy()
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameCylinder3DReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two cylinders have different frames, this method returns {@code false}.
     * </p>
@@ -240,7 +249,7 @@ public FrameCylinder3D copy()
    public boolean equals(Object object)
    {
       if (object instanceof FrameCylinder3DReadOnly)
-         return FrameCylinder3DBasics.super.equals((FrameCylinder3DReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameEllipsoid3D.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameEllipsoid3D.java
@@ -1,8 +1,10 @@
 package us.ihmc.euclid.referenceFrame;
 
 import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly;
+import us.ihmc.euclid.interfaces.Settable;
 import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameShape3DPoseBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameVector3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameEllipsoid3DBasics;
@@ -29,7 +31,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameEllipsoid3D implements FrameEllipsoid3DBasics
+public class FrameEllipsoid3D implements FrameEllipsoid3DBasics, Settable<FrameEllipsoid3D>
 {
    /** The reference frame in which this shape is expressed. */
    private ReferenceFrame referenceFrame;
@@ -373,6 +375,13 @@ public void setIntermediateVariableSupplier(IntermediateVariableSupplier newSupp
       supplier = newSupplier;
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FrameEllipsoid3D other)
+   {
+      FrameEllipsoid3DBasics.super.set(other);
+   }
+
    /** {@inheritDoc} */
    @Override
    public FrameEllipsoid3D copy()
@@ -382,7 +391,7 @@ public FrameEllipsoid3D copy()
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameEllipsoid3DReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two ellipsoids have different frames, this method returns {@code false}.
     * </p>
@@ -395,7 +404,7 @@ public FrameEllipsoid3D copy()
    public boolean equals(Object object)
    {
       if (object instanceof FrameEllipsoid3DReadOnly)
-         return FrameEllipsoid3DBasics.super.equals((FrameEllipsoid3DReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FramePointShape3D.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FramePointShape3D.java
@@ -1,5 +1,7 @@
 package us.ihmc.euclid.referenceFrame;
 
+import us.ihmc.euclid.interfaces.Settable;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FramePointShape3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FramePointShape3DReadOnly;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameTuple3DReadOnly;
@@ -15,7 +17,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FramePointShape3D implements FramePointShape3DBasics
+public class FramePointShape3D implements FramePointShape3DBasics, Settable<FramePointShape3D>
 {
    /** The reference frame in which this shape is expressed. */
    private ReferenceFrame referenceFrame;
@@ -74,6 +76,13 @@ public FramePointShape3D(FrameTuple3DReadOnly tuple3DReadOnly)
       setIncludingFrame(tuple3DReadOnly);
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FramePointShape3D other)
+   {
+      FramePointShape3DBasics.super.set(other);
+   }
+
    /** {@inheritDoc} */
    @Override
    public void setReferenceFrame(ReferenceFrame referenceFrame)
@@ -139,7 +148,7 @@ public FramePointShape3D copy()
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameTuple3DReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two point shapes have different frames, this method returns {@code false}.
     * </p>
@@ -152,7 +161,7 @@ public FramePointShape3D copy()
    public boolean equals(Object object)
    {
       if (object instanceof FramePointShape3DReadOnly)
-         return FramePointShape3DBasics.super.equals((FramePointShape3DReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }

diff --git a/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameRamp3D.java b/src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameRamp3D.java
@@ -4,8 +4,10 @@
 import java.util.List;
 
 import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly;
+import us.ihmc.euclid.interfaces.Settable;
 import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
+import us.ihmc.euclid.referenceFrame.interfaces.EuclidFrameGeometry;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameShape3DPoseBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameVector3DBasics;
@@ -46,7 +48,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameRamp3D implements FrameRamp3DBasics
+public class FrameRamp3D implements FrameRamp3DBasics, Settable<FrameRamp3D>
 {
    private final List<Shape3DChangeListener> changeListeners = new ArrayList<>();
    /** The reference frame in which this shape is expressed. */
@@ -559,6 +561,13 @@ public void setIntermediateVariableSupplier(IntermediateVariableSupplier newSupp
       supplier = newSupplier;
    }
 
+   /** {@inheritDoc} */
+   @Override
+   public void set(FrameRamp3D other)
+   {
+      FrameRamp3DBasics.super.set(other);
+   }
+
    /**
     * Gets the length of this ramp's slope part.
     * <p>
@@ -607,7 +616,7 @@ public FrameRampPolytope3DView asConvexPolytope()
 
    /**
     * Tests if the given {@code object}'s class is the same as this, in which case the method returns
-    * {@link #equals(FrameRamp3DReadOnly)}, it returns {@code false} otherwise.
+    * {@link #equals(EuclidFrameGeometry)}, it returns {@code false} otherwise.
     * <p>
     * If the two ramp have different frames, this method returns {@code false}.
     * </p>
@@ -620,7 +629,7 @@ public FrameRampPolytope3DView asConvexPolytope()
    public boolean equals(Object object)
    {
       if (object instanceof FrameRamp3DReadOnly)
-         return FrameRamp3DBasics.super.equals((FrameRamp3DReadOnly) object);
+         return equals((EuclidFrameGeometry) object);
       else
          return false;
    }
@@ -644,7 +653,6 @@ public int hashCode()
     * </pre>
     * </p>
     *
-    * @param format the format to use for each number.
     * @return the representative {@code String}.
     */
    @Override