Merge branch 'release/0.18.0'

Author: SylvainBertrand

README.md

@@ -5,15 +5,6 @@
 
 ## Minutiae
 
-### Tested Platforms
-We test all of our software on OS X 10.11 El Capitan, Windows 7/8/10, and Ubuntu 16.04, 18.04 LTS Desktop and Server.
-
-### Branches
-This repository uses the git-flow branching model. You can find more about git-flow [here](https://www.atlassian.com/git/tutorials/comparing-workflows/feature-branch-workflow).
-
-### Test and documentation coverage
-We have put our best effort into documenting and testing the entire library. Test coverage is above 90%. 
-
 ### Licensing
 This library is under the license Apache 2.0. Consult the license file for more information.
 

build.gradle.kts

@@ -5,7 +5,7 @@ plugins {
 
 ihmc {
    group = "us.ihmc"
-   version = "0.17.2"
+   version = "0.18.0"
    vcsUrl = "https://github.com/ihmcrobotics/euclid"
    openSource = true
 
@@ -46,5 +46,5 @@ testDependencies {
    api(ihmc.sourceSetProject("frame-shape"))
 
    api("org.ejml:ejml-ddense:0.39")
-   api("us.ihmc:ihmc-commons-testing:0.30.5")
+   api("us.ihmc:ihmc-commons-testing:0.31.0")
 }

src/frame-shape/java/us/ihmc/euclid/referenceFrame/FixedFrameShape3DPose.java

@@ -4,17 +4,15 @@
 import java.util.List;
 
 import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly;
-import us.ihmc.euclid.interfaces.GeometryObject;
-import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameRotationMatrixBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameShape3DPoseBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameShape3DPoseReadOnly;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
 import us.ihmc.euclid.referenceFrame.interfaces.ReferenceFrameHolder;
 import us.ihmc.euclid.referenceFrame.tools.EuclidFrameFactories;
-import us.ihmc.euclid.referenceFrame.tools.EuclidFrameShapeIOTools;
 import us.ihmc.euclid.shape.primitives.interfaces.Shape3DChangeListener;
+import us.ihmc.euclid.tools.EuclidCoreIOTools;
 import us.ihmc.euclid.tools.EuclidHashCodeTools;
 import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
 
@@ -26,7 +24,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FixedFrameShape3DPose implements FixedFrameShape3DPoseBasics, GeometryObject<FixedFrameShape3DPose>
+public class FixedFrameShape3DPose implements FixedFrameShape3DPoseBasics
 {
    /** The listeners to be notified when this pose changes. */
    private final List<Shape3DChangeListener> changeListeners = new ArrayList<>();
@@ -92,13 +90,6 @@ public FixedFrameShape3DPose(ReferenceFrameHolder referenceFrameHolder, Pose3DRe
       set(pose);
    }
 
-   /** {@inheritDoc} */
-   @Override
-   public void set(FixedFrameShape3DPose other)
-   {
-      FixedFrameShape3DPoseBasics.super.set(other);
-   }
-
    /** {@inheritDoc} */
    @Override
    public ReferenceFrame getReferenceFrame()
@@ -188,43 +179,6 @@ public boolean removeChangeListener(Shape3DChangeListener listener)
       return changeListeners.remove(listener);
    }
 
-   /**
-    * Tests on a per-component basis if this shape pose is equal to {@code other} with the tolerance
-    * {@code epsilon}.
-    * <p>
-    * If the two poses have different frames, this method returns {@code false}.
-    * </p>
-    *
-    * @param other   the query. Not modified.
-    * @param epsilon the tolerance to use.
-    * @return {@code true} if the two shape poses are equal and are expressed in the same reference
-    *         frame, {@code false} otherwise.
-    */
-   @Override
-   public boolean epsilonEquals(FixedFrameShape3DPose other, double epsilon)
-   {
-      return FixedFrameShape3DPoseBasics.super.epsilonEquals(other, epsilon);
-   }
-
-   /**
-    * Compares {@code this} to {@code other} to determine if the two shape poses are geometrically
-    * similar.
-    * <p>
-    * Two poses are geometrically equal if both their position and orientation are geometrically equal.
-    * </p>
-    *
-    * @param other   the shape pose to compare to. Not modified.
-    * @param epsilon the tolerance of the comparison.
-    * @return {@code true} if the two shape poses represent the same geometry, {@code false} otherwise.
-    * @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
-    *                                         the same reference frame.
-    */
-   @Override
-   public boolean geometricallyEquals(FixedFrameShape3DPose other, double epsilon)
-   {
-      return FixedFrameShape3DPoseBasics.super.geometricallyEquals(other, epsilon);
-   }
-
    /**
     * 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.
@@ -268,6 +222,6 @@ public int hashCode()
    @Override
    public String toString()
    {
-      return EuclidFrameShapeIOTools.getFrameShape3DPoseString(this);
+      return toString(EuclidCoreIOTools.DEFAULT_FORMAT);
    }
 }

src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameBox3D.java

@@ -4,7 +4,6 @@
 import java.util.List;
 
 import us.ihmc.euclid.geometry.interfaces.Pose3DReadOnly;
-import us.ihmc.euclid.interfaces.GeometryObject;
 import us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameShape3DPoseBasics;
@@ -18,10 +17,10 @@
 import us.ihmc.euclid.referenceFrame.interfaces.FrameShape3DPoseReadOnly;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
 import us.ihmc.euclid.referenceFrame.tools.EuclidFrameFactories;
-import us.ihmc.euclid.referenceFrame.tools.EuclidFrameShapeIOTools;
 import us.ihmc.euclid.shape.primitives.interfaces.Box3DReadOnly;
 import us.ihmc.euclid.shape.primitives.interfaces.IntermediateVariableSupplier;
 import us.ihmc.euclid.shape.primitives.interfaces.Shape3DChangeListener;
+import us.ihmc.euclid.tools.EuclidCoreIOTools;
 import us.ihmc.euclid.tools.EuclidHashCodeTools;
 import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
 import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
@@ -35,7 +34,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameBox3D implements FrameBox3DBasics, GeometryObject<FrameBox3D>
+public class FrameBox3D implements FrameBox3DBasics
 {
    private final List<Shape3DChangeListener> changeListeners = new ArrayList<>();
    /** The reference frame in which this shape is expressed. */
@@ -385,13 +384,6 @@ public void setIntermediateVariableSupplier(IntermediateVariableSupplier newSupp
       supplier = newSupplier;
    }
 
-   /** {@inheritDoc} */
-   @Override
-   public void set(FrameBox3D other)
-   {
-      FrameBox3DBasics.super.set(other);
-   }
-
    /** {@inheritDoc} */
    @Override
    public FrameBox3D copy()
@@ -459,38 +451,6 @@ public boolean removeChangeListener(Shape3DChangeListener listener)
       return hasBeenRemoved;
    }
 
-   /**
-    * Tests on a per component basis if {@code other} and {@code this} are equal to an {@code epsilon}.
-    * <p>
-    * If the two faces have different frames, this method returns {@code false}.
-    * </p>
-    *
-    * @param other   the other box to compare against this. Not modified.
-    * @param epsilon tolerance to use when comparing each component.
-    * @return {@code true} if the two boxes are equal component-wise and are expressed in the same
-    *         reference frame, {@code false} otherwise.
-    */
-   @Override
-   public boolean epsilonEquals(FrameBox3D other, double epsilon)
-   {
-      return FrameBox3DBasics.super.epsilonEquals(other, epsilon);
-   }
-
-   /**
-    * Compares {@code this} to {@code other} to determine if the two boxes are geometrically similar.
-    *
-    * @param other   the box to compare to. Not modified.
-    * @param epsilon the tolerance of the comparison.
-    * @return {@code true} if the two boxes represent the same geometry, {@code false} otherwise.
-    * @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
-    *                                         the same reference frame.
-    */
-   @Override
-   public boolean geometricallyEquals(FrameBox3D other, double epsilon)
-   {
-      return FrameBox3DBasics.super.geometricallyEquals(other, epsilon);
-   }
-
    /**
     * 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.
@@ -534,6 +494,6 @@ public int hashCode()
    @Override
    public String toString()
    {
-      return EuclidFrameShapeIOTools.getFrameBox3DString(this);
+      return toString(EuclidCoreIOTools.DEFAULT_FORMAT);
    }
 }

src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameBoxPolytope3D.java

@@ -39,7 +39,7 @@
  * This implementation registers listener to its owner such that it is always accurately
  * representing its owner even being modified after creation of the polytope view.
  * </p>
- * 
+ *
  * @author Sylvain Bertrand
  */
 class FrameBoxPolytope3D implements FrameBoxPolytope3DView

src/frame-shape/java/us/ihmc/euclid/referenceFrame/FrameCapsule3D.java

@@ -1,7 +1,6 @@
 package us.ihmc.euclid.referenceFrame;
 
 import us.ihmc.euclid.Axis3D;
-import us.ihmc.euclid.interfaces.GeometryObject;
 import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFramePoint3DBasics;
 import us.ihmc.euclid.referenceFrame.interfaces.FixedFrameUnitVector3DBasics;
@@ -10,8 +9,8 @@
 import us.ihmc.euclid.referenceFrame.interfaces.FramePoint3DReadOnly;
 import us.ihmc.euclid.referenceFrame.interfaces.FrameVector3DReadOnly;
 import us.ihmc.euclid.referenceFrame.tools.EuclidFrameFactories;
-import us.ihmc.euclid.referenceFrame.tools.EuclidFrameShapeIOTools;
 import us.ihmc.euclid.shape.primitives.interfaces.Capsule3DReadOnly;
+import us.ihmc.euclid.tools.EuclidCoreIOTools;
 import us.ihmc.euclid.tools.EuclidHashCodeTools;
 import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
 import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
@@ -25,7 +24,7 @@
  *
  * @author Sylvain Bertrand
  */
-public class FrameCapsule3D implements FrameCapsule3DBasics, GeometryObject<FrameCapsule3D>
+public class FrameCapsule3D implements FrameCapsule3DBasics
 {
    /** The reference frame in which this shape is expressed. */
    private ReferenceFrame referenceFrame;
@@ -137,13 +136,6 @@ public FrameCapsule3D(FrameCapsule3DReadOnly other)
       setIncludingFrame(other);
    }
 
-   /** {@inheritDoc} */
-   @Override
-   public void set(FrameCapsule3D other)
-   {
-      FrameCapsule3DBasics.super.set(other);
-   }
-
    /** {@inheritDoc} */
    @Override
    public void setReferenceFrame(ReferenceFrame referenceFrame)
@@ -233,39 +225,6 @@ public FrameCapsule3D copy()
       return new FrameCapsule3D(this);
    }
 
-   /**
-    * Tests on a per component basis if {@code other} and {@code this} are equal to an {@code epsilon}.
-    * <p>
-    * If the two capsules have different frames, this method returns {@code false}.
-    * </p>
-    *
-    * @param other   the other capsule to compare against this. Not modified.
-    * @param epsilon tolerance to use when comparing each component.
-    * @return {@code true} if the two capsules are equal component-wise and are expressed in the same
-    *         reference frame, {@code false} otherwise.
-    */
-   @Override
-   public boolean epsilonEquals(FrameCapsule3D other, double epsilon)
-   {
-      return FrameCapsule3DBasics.super.epsilonEquals(other, epsilon);
-   }
-
-   /**
-    * Compares {@code this} and {@code other} to determine if the two capsules are geometrically
-    * similar.
-    *
-    * @param other   the capsule to compare to. Not modified.
-    * @param epsilon the tolerance of the comparison.
-    * @return {@code true} if the capsules represent the same geometry, {@code false} otherwise.
-    * @throws ReferenceFrameMismatchException if {@code this} and {@code other} are not expressed in
-    *                                         the same reference frame.
-    */
-   @Override
-   public boolean geometricallyEquals(FrameCapsule3D other, double epsilon)
-   {
-      return FrameCapsule3DBasics.super.geometricallyEquals(other, epsilon);
-   }
-
    /**
     * 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.
@@ -312,6 +271,6 @@ public int hashCode()
    @Override
    public String toString()
    {
-      return EuclidFrameShapeIOTools.getFrameCapsule3DString(this);
+      return toString(EuclidCoreIOTools.DEFAULT_FORMAT);
    }
 }