com.ur.urcap.api.domain.value.jointposition

Interface JointPosition

public interface JointPosition

This interface represents the position of a single joint

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(JointPosition other, double epsilon, Angle.Unit unit) Indicates whether some other JointPosition is "approximately equal" to this one.
boolean	equals(Object obj) Indicates whether some other JointPosition is "equal to" this one.
double	getAngle(Angle.Unit unit) Provides the angle offset in the range [0:2pi[ (RAD) or [0:360[ (DEG)
double	getPosition(Angle.Unit unit) Provides the position value including all revolutions in the specified unit
long	getRevolutions() Provides the number of whole revolutions
int	hashCode() Returns a hash code value for the JointPosition.
String	toString() Returns a string representation of the JointPosition.

Method Detail

getPosition

double getPosition(Angle.Unit unit)

Provides the position value including all revolutions in the specified unit

Parameters:

unit - enum to specify unit type

Returns:

position value in specified unit

getRevolutions

long getRevolutions()

Provides the number of whole revolutions

Returns:

number of revolutions

getAngle

double getAngle(Angle.Unit unit)

Provides the angle offset in the range [0:2pi[ (RAD) or [0:360[ (DEG)

Parameters:

unit - enum to specify unit type

Returns:

angle value in specified unit

epsilonEquals

boolean epsilonEquals(JointPosition other,
                      double epsilon,
                      Angle.Unit unit)

Indicates whether some other JointPosition is "approximately equal" to this one.

Parameters:

other - another JointPosition

epsilon - a tolerance

unit - enum to specify unit type of tolerance

Returns:

true if this object contains the "approximately equal" value as the obj argument; false otherwise.

hashCode

int hashCode()

Returns a hash code value for the JointPosition.

Overrides:

hashCode in class Object

Returns:

a hash code value for this object.

equals

boolean equals(Object obj)

Indicates whether some other JointPosition is "equal to" this one.

Overrides:

equals in class Object

Parameters:

obj - another JointPosition

Returns:

true if this object contains the same value as the obj argument; false otherwise.

toString

String toString()

Returns a string representation of the JointPosition.

Overrides:

toString in class Object

Returns:

a string representation of the JointPosition