rcssjava
Class VecPosition

java.lang.Object
  rcssjava.VecPosition

All Implemented Interfaces:

java.io.Serializable

public class VecPosition
extends java.lang.Object
implements java.io.Serializable

Implementation of a 2d point/vector.

See Also:

Serialized Form

Constructor Summary

VecPosition()
Default constructor sets point at origin

VecPosition(double vx, double vy)
Cartesian constructor

VecPosition(double vx, double vy, boolean polar)
Cartesian/Polar constructor

VecPosition(VecPosition p)
Copy constructor

Method Summary

VecPosition	add(double d) Get new vector with a constant value added to each coordinate
VecPosition	add(VecPosition p) Sum of two vectors
void	copy(VecPosition p) Copy value of another VecPosition into this
VecPosition	divide(double d) Get new vector with each coordinate divided by a constant
VecPosition	divide(VecPosition p) Pairwise quotient of two vectors
double	dotProduct(VecPosition p) Dot (inner) product of two vectors
double	getAngleBetweenPoints(VecPosition p1, VecPosition p2) Get angle formed between the vectors connecting this point to the given points
double	getDirection() Get direction
double	getDistanceTo(VecPosition p) Get distanct to a given point
double	getMagnitude() Get magnitude
static VecPosition	getVecPositionFromPolar(double mag, double angDeg) Convert from polar to cartesian coordinates
double	getX() Get x coordinate
double	getY() Get y coordinate
VecPosition	globalToRelative(VecPosition origin, double angDeg) Convert global coordinates to relative coordinates
boolean	isBehind(double d) Is this behind given x coordinate?
boolean	isBehind(VecPosition p) Is this behind given point?
boolean	isBetweenX(double d1, double d2) Is the x coordinate between the given x coordinates
boolean	isBetweenX(VecPosition p1, VecPosition p2) Is the x coordinate between the x coordinates of the given points?
boolean	isBetweenY(double d1, double d2) Is the y coordinate between the given y coordinates
boolean	isBetweenY(VecPosition p1, VecPosition p2) Is the y coordinate between the y coordinates of the given points?
boolean	isInFrontOf(double d) Is this in front of given x coordinate?
boolean	isInFrontOf(VecPosition p) Is this in front of given point?
boolean	isLeftOf(double d) Is this left of given y coordinate?
boolean	isLeftOf(VecPosition p) Is this left of given point?
boolean	isRightOf(double d) Is this right of given y coordinate?
boolean	isRightOf(VecPosition p) Is this right of given point?
VecPosition	multiply(double d) Get new vector with each coordinate muliplied by a constant
VecPosition	multiply(VecPosition p) Pairwise product of two vectors
VecPosition	negate() Get new vector which is the negation of this
VecPosition	normalize() Scale to magnitude 1.0
VecPosition	relativeToGlobal(VecPosition origin, double angDeg) Convert relative coordinates to global coordinates
VecPosition	rotate(double angDeg) Rotate by angle
VecPosition	subtract(double d) Get new vector with a constant value subtracted from each coordinate
VecPosition	subtract(VecPosition p) Difference of two vectors
java.lang.String	toString()
VecPosition	withMagnitude(double d) Scale to given magnitude

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

VecPosition

public VecPosition()

Default constructor sets point at origin

VecPosition

public VecPosition(double vx,
                   double vy)

Cartesian constructor

Parameters:

vx - value of x coordinate

vy - value of y coordinate

VecPosition

public VecPosition(double vx,
                   double vy,
                   boolean polar)

Cartesian/Polar constructor

Parameters:

vx - x coordinate for cartesian, or magnitude for polar

vy - y coordinate for cartesian, or angle in degrees for polar

polar - set to true for polar interpretation of arguments

See Also:

getVecPositionFromPolar(double,double)

VecPosition

public VecPosition(VecPosition p)

Copy constructor

Parameters:

p - another VecPosition

Method Detail

copy

public void copy(VecPosition p)

Copy value of another VecPosition into this

Parameters:

p - another VecPosition

getX

public double getX()

Get x coordinate

Returns:

x coordinate

getY

public double getY()

Get y coordinate

Returns:

y coordinate

getMagnitude

public double getMagnitude()

Get magnitude

Returns:

euclidean length (L2 norm) of vector

getDirection

public double getDirection()

Get direction

Returns:

angle in degrees

getDistanceTo

public double getDistanceTo(VecPosition p)

Get distanct to a given point

Parameters:

p - another point

Returns:

euclidean distance to point

isInFrontOf

public boolean isInFrontOf(double d)

Is this in front of given x coordinate?

Parameters:

d - x coordinate

Returns:

true if this has a greater x coordinate

isInFrontOf

public boolean isInFrontOf(VecPosition p)

Is this in front of given point?

Parameters:

p - another point

Returns:

true if this has a greater x coordinate

isBehind

public boolean isBehind(double d)

Is this behind given x coordinate?

Parameters:

d - x coordinate

Returns:

true if this has a smaller x coordinate

isBehind

public boolean isBehind(VecPosition p)

Is this behind given point?

Parameters:

p - another point

Returns:

true if this has a smaller x coordinate

isLeftOf

public boolean isLeftOf(double d)

Is this left of given y coordinate?

Parameters:

d - y coordinate

Returns:

true if this has a smaller y coordinate

isLeftOf

public boolean isLeftOf(VecPosition p)

Is this left of given point?

Parameters:

p - another point

Returns:

true if this has a smaller y coordinate

isRightOf

public boolean isRightOf(double d)

Is this right of given y coordinate?

Parameters:

d - y coordinate

Returns:

true if this has a greater y coordinate

isRightOf

public boolean isRightOf(VecPosition p)

Is this right of given point?

Parameters:

p - another point

Returns:

true if this has a greater y coordinate

isBetweenX

public boolean isBetweenX(VecPosition p1,
                          VecPosition p2)

Is the x coordinate between the x coordinates of the given points?

Parameters:

p1 - back point

p2 - front point

Returns:

true if in front of back point and behind front point

isBetweenX

public boolean isBetweenX(double d1,
                          double d2)

Is the x coordinate between the given x coordinates

Parameters:

d1 - back x coordinate

d2 - front x coordinate

Returns:

true if in front of back coordinate and behind front coordinate

isBetweenY

public boolean isBetweenY(VecPosition p1,
                          VecPosition p2)

Is the y coordinate between the y coordinates of the given points?

Parameters:

p1 - left point

p2 - right point

Returns:

true if right of left point and left of right point

isBetweenY

public boolean isBetweenY(double d1,
                          double d2)

Is the y coordinate between the given y coordinates

Parameters:

d1 - left y coordinate

d2 - right y coordinate

Returns:

true if right of left coordinate and left of right coordinate

negate

public VecPosition negate()

Get new vector which is the negation of this

Returns:

new VecPosition with x and y negated

add

public VecPosition add(double d)

Get new vector with a constant value added to each coordinate

Parameters:

d - value to add to both x and y

Returns:

new VecPosition (x+d,y+d)

add

public VecPosition add(VecPosition p)

Sum of two vectors

Parameters:

p - another vector

Returns:

sum of this and given vector

subtract

public VecPosition subtract(double d)

Get new vector with a constant value subtracted from each coordinate

Parameters:

d - value to subtract from both x and y

Returns:

new VecPosition (x-d,y-d)

subtract

public VecPosition subtract(VecPosition p)

Difference of two vectors

Parameters:

p - another vector

Returns:

this minus given vector

multiply

public VecPosition multiply(double d)

Get new vector with each coordinate muliplied by a constant

Parameters:

d - value to multiply both x and y by

Returns:

new VecPosition (x*d,y*d)

multiply

public VecPosition multiply(VecPosition p)

Pairwise product of two vectors

Parameters:

p - another vector

Returns:

this times given vector, coordinate-by-coordinate

See Also:

dotProduct(VecPosition)

divide

public VecPosition divide(double d)

Get new vector with each coordinate divided by a constant

Parameters:

d - value to divide both x and y by

Returns:

new VecPosition (x/d,y/d)

divide

public VecPosition divide(VecPosition p)

Pairwise quotient of two vectors

Parameters:

p - another vector

Returns:

this divided by given vector, coordinate-by-coordinate

withMagnitude

public VecPosition withMagnitude(double d)

Scale to given magnitude

Parameters:

d - magnitude

Returns:

new VecPosition with given magnitude

See Also:

normalize()

normalize

public VecPosition normalize()

Scale to magnitude 1.0

Returns:

new VecPosition with magnitude 1.0

See Also:

withMagnitude(double)

rotate

public VecPosition rotate(double angDeg)

Rotate by angle

Parameters:

angDeg - angle in degrees

Returns:

new VecPosition rotated by given angle

globalToRelative

public VecPosition globalToRelative(VecPosition origin,
                                    double angDeg)

Convert global coordinates to relative coordinates

Parameters:

origin - position of relative coordinate system

angDeg - direction of relative coordinate system in degrees

Returns:

point in relative coordinates

See Also:

relativeToGlobal(VecPosition,double)

relativeToGlobal

public VecPosition relativeToGlobal(VecPosition origin,
                                    double angDeg)

Convert relative coordinates to global coordinates

Parameters:

origin - position of relative coordinate system

angDeg - direction of relative coordinate system in degrees

Returns:

point in global coordinates

See Also:

globalToRelative(VecPosition,double)

dotProduct

public double dotProduct(VecPosition p)

Dot (inner) product of two vectors

Parameters:

p - another vector

Returns:

dot product of this and given vector

See Also:

multiply(VecPosition)

getAngleBetweenPoints

public double getAngleBetweenPoints(VecPosition p1,
                                    VecPosition p2)

Get angle formed between the vectors connecting this point to the given points

Parameters:

p1 - first point

p2 - second point

Returns:

angle in degrees

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getVecPositionFromPolar

public static VecPosition getVecPositionFromPolar(double mag,
                                                  double angDeg)

Convert from polar to cartesian coordinates

Parameters:

mag - magnitude

angDeg - direction in degrees

Returns:

new VecPosition for the given values