engagement_generation: engagement_generation/src/edu/wpi/hri/gen/policy/ref/Point.java Source File

00001 /*
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00004  *  Copyright (c) 2010, Worcester Polytechnic Institute
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00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Worcester Polytechnic Institute. nor the names
00018  *     of its contributors may be used to endorse or promote products
00019  *     derived from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 package edu.wpi.hri.gen.policy.ref;
00035 
00042 public class Point {
00043 
00044         private final double x;
00045         private final double y;
00046         private final double z;
00047         private final double zRot;
00048 
00059         public Point(double x, double y, double z) {
00060                 this(x, y, z, 0);
00061         }
00062 
00073         public Point(double x, double y, double z, double zRot) {
00074                 this.x = x;
00075                 this.y = y;
00076                 this.z = z;
00077                 this.zRot = zRot;
00078         }
00079 
00085         public double getX() {
00086                 return x;
00087         }
00088 
00094         public double getY() {
00095                 return y;
00096         }
00097 
00103         public double getZ() {
00104                 return z;
00105         }
00106 
00112         public double getzRot() {
00113                 return zRot;
00114         }
00115 
00116         private static double square(double d) {
00117                 return d * d;
00118         }
00119 
00127         public double fullDistanceSquared(Point dest) {
00128                 return square(this.x - dest.x) + square(this.y - dest.y)
00129                                 + square(this.z - dest.z);
00130         }
00131 
00139         public double fullDistance(Point dest) {
00140                 return Math.sqrt(this.fullDistanceSquared(dest));
00141         }
00142 
00150         public double xyDistanceSquared(Point dest) {
00151                 return square(this.x - dest.x) + square(this.y - dest.y);
00152         }
00153 
00161         public double xyDistance(Point dest) {
00162                 return Math.sqrt(this.xyDistanceSquared(dest));
00163         }
00164 
00172         public double xzDistanceSquared(Point dest) {
00173                 return square(this.x - dest.x) + square(this.z - dest.z);
00174         }
00175 
00183         public double xzDistance(Point dest) {
00184                 return Math.sqrt(this.xzDistanceSquared(dest));
00185         }
00186 
00194         public double yzDistanceSquared(Point dest) {
00195                 return square(this.y - dest.y) + square(this.z - dest.z);
00196         }
00197 
00205         public double yzDistance(Point dest) {
00206                 return Math.sqrt(this.yzDistanceSquared(dest));
00207         }
00208         
00209         @Override
00210         public String toString() {
00211                 return "(" + x + ", " + y + ", " + z + ")"; 
00212         }
00213 
00214         @Override
00215         public boolean equals(Object obj) {
00216                 if (obj instanceof Point) {
00217                         Point other = (Point) obj;
00218                         return (this.x == other.x) && (this.y == other.y)
00219                                         && (this.z == other.z) && (this.zRot == other.zRot);
00220                 } else
00221                         return false;
00222         }
00223 }