Translation3d.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.math.geometry;
 
import static org.wpilib.units.Units.Meters;
 
import io.avaje.jsonb.Json;
import java.util.Collection;
import java.util.Collections;
import java.util.Comparator;
import java.util.Objects;
import org.wpilib.math.geometry.proto.Translation3dProto;
import org.wpilib.math.geometry.struct.Translation3dStruct;
import org.wpilib.math.interpolation.Interpolatable;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.linalg.Vector;
import org.wpilib.math.numbers.N3;
import org.wpilib.math.util.MathUtil;
import org.wpilib.units.measure.Distance;
import org.wpilib.util.protobuf.ProtobufSerializable;
import org.wpilib.util.struct.StructSerializable;

@Json
public final class Translation3d
    implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
  public static final Translation3d ZERO = new Translation3d();
 
  @Json.Property("x")
  private final double m_x;
 
  @Json.Property("y")
  private final double m_y;
 
  @Json.Property("z")
  private final double m_z;

  public Translation3d() {
    this(0.0, 0.0, 0.0);
  }

  @Json.Creator
  public Translation3d(double x, double y, double z) {
    m_x = x;
    m_y = y;
    m_z = z;
  }

  public Translation3d(double distance, Rotation3d angle) {
    final var rectangular = new Translation3d(distance, 0.0, 0.0).rotateBy(angle);
    m_x = rectangular.getX();
    m_y = rectangular.getY();
    m_z = rectangular.getZ();
  }

  public Translation3d(Distance x, Distance y, Distance z) {
    this(x.in(Meters), y.in(Meters), z.in(Meters));
  }

  public Translation3d(Translation2d translation) {
    this(translation.getX(), translation.getY(), 0.0);
  }

  public Translation3d(Vector<N3> vector) {
    this(vector.get(0), vector.get(1), vector.get(2));
  }

  public double getDistance(Translation3d other) {
    double dx = other.m_x - m_x;
    double dy = other.m_y - m_y;
    double dz = other.m_z - m_z;
    return Math.sqrt(dx * dx + dy * dy + dz * dz);
  }

  public double getSquaredDistance(Translation3d other) {
    double dx = other.m_x - m_x;
    double dy = other.m_y - m_y;
    double dz = other.m_z - m_z;
    return dx * dx + dy * dy + dz * dz;
  }

  public double getX() {
    return m_x;
  }

  public double getY() {
    return m_y;
  }

  public double getZ() {
    return m_z;
  }

  public Distance getMeasureX() {
    return Meters.of(m_x);
  }

  public Distance getMeasureY() {
    return Meters.of(m_y);
  }

  public Distance getMeasureZ() {
    return Meters.of(m_z);
  }

  public Vector<N3> toVector() {
    return VecBuilder.fill(m_x, m_y, m_z);
  }

  public double getNorm() {
    return Math.sqrt(m_x * m_x + m_y * m_y + m_z * m_z);
  }

  public double getSquaredNorm() {
    return m_x * m_x + m_y * m_y + m_z * m_z;
  }

  public Translation3d rotateBy(Rotation3d other) {
    final var p = new Quaternion(0.0, m_x, m_y, m_z);
    final var qprime = other.getQuaternion().times(p).times(other.getQuaternion().inverse());
    return new Translation3d(qprime.getX(), qprime.getY(), qprime.getZ());
  }

  public Translation3d rotateAround(Translation3d other, Rotation3d rot) {
    return this.minus(other).rotateBy(rot).plus(other);
  }

  public double dot(Translation3d other) {
    return m_x * other.m_x + m_y * other.m_y + m_z * other.m_z;
  }

  public Vector<N3> cross(Translation3d other) {
    return VecBuilder.fill(
        m_y * other.m_z - other.m_y * m_z,
        m_z * other.m_x - other.m_z * m_x,
        m_x * other.m_y - other.m_x * m_y);
  }

  public Translation2d toTranslation2d() {
    return new Translation2d(m_x, m_y);
  }

  public Translation3d plus(Translation3d other) {
    return new Translation3d(m_x + other.m_x, m_y + other.m_y, m_z + other.m_z);
  }

  public Translation3d minus(Translation3d other) {
    return new Translation3d(m_x - other.m_x, m_y - other.m_y, m_z - other.m_z);
  }

  public Translation3d unaryMinus() {
    return new Translation3d(-m_x, -m_y, -m_z);
  }

  public Translation3d times(double scalar) {
    return new Translation3d(m_x * scalar, m_y * scalar, m_z * scalar);
  }

  public Translation3d div(double scalar) {
    return new Translation3d(m_x / scalar, m_y / scalar, m_z / scalar);
  }

  public Translation3d nearest(Collection<Translation3d> translations) {
    return Collections.min(translations, Comparator.comparing(this::getDistance));
  }
 
  @Override
  public String toString() {
    return String.format("Translation3d(X: %.2f, Y: %.2f, Z: %.2f)", m_x, m_y, m_z);
  }

  @Override
  public boolean equals(Object obj) {
    return obj instanceof Translation3d other
        && Math.abs(other.m_x - m_x) < 1E-9
        && Math.abs(other.m_y - m_y) < 1E-9
        && Math.abs(other.m_z - m_z) < 1E-9;
  }
 
  @Override
  public int hashCode() {
    return Objects.hash(m_x, m_y, m_z);
  }
 
  @Override
  public Translation3d interpolate(Translation3d endValue, double t) {
    return new Translation3d(
        MathUtil.lerp(this.getX(), endValue.getX(), t),
        MathUtil.lerp(this.getY(), endValue.getY(), t),
        MathUtil.lerp(this.getZ(), endValue.getZ(), t));
  }

  public static final Translation3dProto proto = new Translation3dProto();

  public static final Translation3dStruct struct = new Translation3dStruct();
}