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- variants of setTo() return 'this' now
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@lessthanoptimal
lessthanoptimal committed Dec 13, 2023
1 parent d2687aa commit ae2c077
Showing 1 changed file with 22 additions and 22 deletions.
44 changes: 22 additions & 22 deletions main/src/georegression/struct/se/Se3_F64.java
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Original file line number Diff line number Diff line change
Expand Up @@ -66,19 +66,19 @@ public Se3_F64() {
* @param R Rotation matrix.
* @param T Translation.
*/
public Se3_F64(DMatrixRMaj R, Vector3D_F64 T) {
public Se3_F64( DMatrixRMaj R, Vector3D_F64 T ) {
this(R, T, false);
}

/**
* Initializes the Se3_F64 with the rotation matrix and translation vector. If assign
* is true the reference to the provided parameters is saved, otherwise a copy is made.
*
* @param R Rotation matrix.
* @param T Translation.
* @param R Rotation matrix.
* @param T Translation.
* @param assign If a reference is saved (true) or a copy made (false).
*/
public Se3_F64(DMatrixRMaj R, Vector3D_F64 T, boolean assign) {
public Se3_F64( DMatrixRMaj R, Vector3D_F64 T, boolean assign ) {
if (assign) {
this.R = R;
this.T = T;
Expand All @@ -94,7 +94,7 @@ public Se3_F64(DMatrixRMaj R, Vector3D_F64 T, boolean assign) {
* @param se The transform that is being copied.
*/
@Override
public Se3_F64 setTo(Se3_F64 se) {
public Se3_F64 setTo( Se3_F64 se ) {
R.setTo(se.getR());
T.setTo(se.getT());
return this;
Expand All @@ -113,7 +113,7 @@ public void zero() {
*
* @param R New rotation.
*/
public void setRotation(DMatrixRMaj R) {
public void setRotation( DMatrixRMaj R ) {
this.R.setTo(R);
}

Expand All @@ -122,7 +122,7 @@ public void setRotation(DMatrixRMaj R) {
*
* @param T New translation
*/
public void setTranslation(Vector3D_F64 T) {
public void setTranslation( Vector3D_F64 T ) {
this.T.setTo(T);
}

Expand All @@ -133,7 +133,7 @@ public void setTranslation(Vector3D_F64 T) {
* @param y y component of translation
* @param z z component of translation
*/
public void setTranslation(double x, double y, double z) {
public void setTranslation( double x, double y, double z ) {
this.T.setTo(x, y, z);
}

Expand Down Expand Up @@ -186,7 +186,7 @@ public Se3_F64 createInstance() {
}

@Override
public Se3_F64 concat(Se3_F64 second, @Nullable Se3_F64 result) {
public Se3_F64 concat( Se3_F64 second, @Nullable Se3_F64 result ) {
if (result == null)
result = new Se3_F64();

Expand All @@ -202,7 +202,7 @@ public Se3_F64 concat(Se3_F64 second, @Nullable Se3_F64 result) {
* Equivalent to invert(null).concat(second, null);
*/
@Override
public Se3_F64 invertConcat(Se3_F64 second, @Nullable Se3_F64 result) {
public Se3_F64 invertConcat( Se3_F64 second, @Nullable Se3_F64 result ) {
if (result == null)
result = new Se3_F64();

Expand All @@ -227,7 +227,7 @@ public Se3_F64 invertConcat(Se3_F64 second, @Nullable Se3_F64 result) {
* Equivalent to invert(null).concat(second, null);
*/
@Override
public Se3_F64 concatInvert(Se3_F64 second, @Nullable Se3_F64 result) {
public Se3_F64 concatInvert( Se3_F64 second, @Nullable Se3_F64 result ) {
if (result == null)
result = new Se3_F64();

Expand All @@ -247,7 +247,7 @@ public Se3_F64 concatInvert(Se3_F64 second, @Nullable Se3_F64 result) {
}

@Override
public Se3_F64 invert(@Nullable Se3_F64 inverse) {
public Se3_F64 invert( @Nullable Se3_F64 inverse ) {

if (inverse == null)
inverse = new Se3_F64();
Expand Down Expand Up @@ -277,7 +277,7 @@ public void reset() {
*
* @return Reference to 'this'
*/
public Se3_F64 setTo(double x, double y, double z, EulerType type, double rotA, double rotB, double rotC) {
public Se3_F64 setTo( double x, double y, double z, EulerType type, double rotA, double rotB, double rotC ) {
T.setTo(x, y, z);
ConvertRotation3D_F64.eulerToMatrix(type, rotA, rotB, rotC, R);
return this;
Expand All @@ -289,7 +289,7 @@ public Se3_F64 setTo(double x, double y, double z, EulerType type, double rotA,
*
* @return Reference to 'this'
*/
public Se3_F64 setTo(double x, double y, double z, RotationType type, double A, double B, double C, double D) {
public Se3_F64 setTo( double x, double y, double z, RotationType type, double A, double B, double C, double D ) {
T.setTo(x, y, z);
switch (type) {
case RODRIGUES:
Expand All @@ -314,7 +314,7 @@ public Se3_F64 setTo(double x, double y, double z, RotationType type, double A,
* @return Output
* @see SePointOps_F64#transform(Se3_F64, Point3D_F64, Point3D_F64)
*/
public Point3D_F64 transform(Point3D_F64 src, @Nullable Point3D_F64 dst) {
public Point3D_F64 transform( Point3D_F64 src, @Nullable Point3D_F64 dst ) {
return SePointOps_F64.transform(this, src, dst);
}

Expand All @@ -326,7 +326,7 @@ public Point3D_F64 transform(Point3D_F64 src, @Nullable Point3D_F64 dst) {
* @return Output
* @see SePointOps_F64#transformReverse(Se3_F64, Point3D_F64, Point3D_F64)
*/
public Point3D_F64 transformReverse(Point3D_F64 src, @Nullable Point3D_F64 dst) {
public Point3D_F64 transformReverse( Point3D_F64 src, @Nullable Point3D_F64 dst ) {
return SePointOps_F64.transformReverse(this, src, dst);
}

Expand All @@ -337,7 +337,7 @@ public Point3D_F64 transformReverse(Point3D_F64 src, @Nullable Point3D_F64 dst)
* @param dst Output
* @see GeometryMath_F64#mult(DMatrixRMaj, GeoTuple2D_F64, GeoTuple2D_F64)
*/
public Vector3D_F64 transform(Vector3D_F64 src, @Nullable Vector3D_F64 dst) {
public Vector3D_F64 transform( Vector3D_F64 src, @Nullable Vector3D_F64 dst ) {
return GeometryMath_F64.mult(R, src, dst);
}

Expand All @@ -348,7 +348,7 @@ public Vector3D_F64 transform(Vector3D_F64 src, @Nullable Vector3D_F64 dst) {
* @param dst Output
* @see GeometryMath_F64#multTran(DMatrixRMaj, GeoTuple3D_F64, GeoTuple3D_F64)
*/
public Vector3D_F64 transformReverse(Vector3D_F64 src, @Nullable Vector3D_F64 dst) {
public Vector3D_F64 transformReverse( Vector3D_F64 src, @Nullable Vector3D_F64 dst ) {
return GeometryMath_F64.multTran(R, src, dst);
}

Expand All @@ -361,11 +361,11 @@ public Vector3D_F64 transformReverse(Vector3D_F64 src, @Nullable Vector3D_F64 ds
* @return Output. Homogenous coordinate
* @see SePointOps_F64#transform(Se3_F64, Point4D_F64, Point4D_F64)
*/
public Point4D_F64 transform(Point4D_F64 src, @Nullable Point4D_F64 dst) {
public Point4D_F64 transform( Point4D_F64 src, @Nullable Point4D_F64 dst ) {
return SePointOps_F64.transform(this, src, dst);
}

public Point4D_F64 transformReverse(Point4D_F64 src, @Nullable Point4D_F64 dst) {
public Point4D_F64 transformReverse( Point4D_F64 src, @Nullable Point4D_F64 dst ) {
return SePointOps_F64.transformReverse(this, src, dst);
}

Expand All @@ -387,7 +387,7 @@ public String toString() {
/**
* More compact toString() where the rotation matrix is encoded in one of the specified formats.
*/
public String toString(RotationType type) {
public String toString( RotationType type ) {
DecimalFormat format = new DecimalFormat("#");

final int sig = 4; // number of significant digits
Expand Down Expand Up @@ -429,7 +429,7 @@ public void print() {
System.out.println(this);
}

public void print(RotationType type) {
public void print( RotationType type ) {
System.out.println(toString(type));
}
}

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