Release notes

This release contains major changes, some are non backward compatible changes to the API.

New types: EuclidGeometry and EuclidFrameGeometry:

• EuclidGeometry: new base interface for almost all Euclid types.
• Cleaned up the "equals" methods implementations for all object:
  • EuclidGeometry.equals(EuclidGeometry): now considers Double.NaN == Double.NaN in the way as Double.equals(Object) do.
  • EuclidGeometry.epsilonEquals(EuclidGeometry, double): now returns false if the argument is null.
  • EuclidGeometry.geometricallyEquals(EuclidGeometry, double): now returns false if the argument is null.
• EuclidFrameGeometry: equivalent of EuclidGeometry for representing a frame geometry object:
  • EuclidFrameGeometry.geometricallyEquals(EuclidFrameGeometry, double): now returns false if the argument is is not expressed in the same reference frame.
• Simplified the test tools:
  • EuclidCoreTestTools has new assertions for the generic type EuclidGeometry, as a result, the assertion methods for sub-types have been removed across the different test tools classes unless they perform additional information given the type like for instance computing the error.
  • EuclidGeometryTools has been deleted. Use EuclidCoreTestTools assertions with the EuclidGeometry.
  • EuclidShapeTestTools: most assertion methods have been removed, use EuclidCoreTestTools assertions with the EuclidGeometry.

Changes for 3D orientations

• Orientation3DReadOnly now comes with:
  • angle() and angle(boolean) for computing the orientation angle magnitude.
  • distance(Orientation3DReadOnly, boolean) for computing the angular distance between 2 orientations. While this work for any 2 types of orientations, prefer comparing 2 quaternions for better performance.
  • geoemtricallyEquals(EuclidGeometry, double) for comparing 2 orientations.

Changes for tuples:

• Tuple2DReadOnly and Tuple3DReadOnly:
  • norm() and normSquared() can be used to calculate the norm and the square of the norm of the tuple.
  • differenceNorm(...) and ``differenceNormSquared(...)are convenience methods for calculating the norm of the difference between 2 tuples. This method was also added toTuple4DReadOnly`.
  • dot(...) the dot product has been moved up from the vector interfaces.
• normalize() clipToMaxNorm(...) have been moved up from the vector interfaces to Tuple2DBasics and Tuple3DBasics.

Changes for pose 3D:

• Pose3DReadOnly now extends RigidBodyTransformReadOnly.
• Pose3DBasics now extends RigidBodyTransformBasics.
• Deprecated methods have been removed from the rigid-body transform and 3D pose interfaces.
• Pose3D can be used as a transform and is now an equivalent of RigidBodyTransform.

Code removal:

• Deprecated methods have been removed from:
  • Axis2D and Axis3D
  • Plane3D
  • Line2DBasics and Line3DBasics
  • LineSegment2DBasics and LineSegment3DBasics
  • Pose2DBasics and Pose3DBasics
  • FixedFrameLine2DBasics and FixedFrameLine3DBasics
  • FixedFrameLineSegment2DBasics and FixedFrameLineSegment3DBasics
  • FixedFramePose2DBasics and FixedFramePose3DBasics
  • FrameLine2DBasics and FrameLine3DBasics
  • FrameOrientation3DBasics
  • Capsule3DBasics, Cylinder3DBasics, Ramp3DBasics
• Removed classes:
  • EuclidFrameTestTools (added back in 0.18.1)
  • EuclidGeometryTestTools

Misc.:

• The angle method for Vector2DReadOnly and Vector3DReadOnly has been optimized.
• Deprecated EpsilonComparable, GeometricallyComparable, and GeometryObject. These interface are obsolete and unnecessary, they'll be removed in a future release.
• Updated ihmc-commons from 0.30.5 to 0.31.0