com.ur.urcap.api.domain.value

Interface Pose

public interface Pose

Support for poses.

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(Pose other, double epsilon) Deprecated. Use epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)
boolean	epsilonEquals(Pose other, double lengthEpsilon, Length.Unit lengthUnit, double angleEpsilon, Angle.Unit angleUnit) Indicates whether of some other Pose is "approximately equal" to this one.
boolean	equals(Object obj)
Position	getPosition()
Rotation	getRotation()
int	hashCode()
double[]	toArray() Deprecated. Use toArray(Length.Unit, Angle.Unit)
double[]	toArray(Length.Unit lengthUnit, Angle.Unit angleUnit)
String	toString()

Method Detail

getPosition

Position getPosition()

Returns:

Position part

getRotation

Rotation getRotation()

Returns:

Rotation part

toArray

double[] toArray()

Deprecated. Use toArray(Length.Unit, Angle.Unit)

Returns:

an array with x, y, z in meters for the position and rx, ry, rz in radians for the rotation

toArray

double[] toArray(Length.Unit lengthUnit,
                 Angle.Unit angleUnit)

Parameters:

lengthUnit - the unit to use for x, y, z

angleUnit - the unit to use for rx, ry, rz

Returns:

an array with x, y, z in length units for the position and rx, ry, rz in angle units for the rotation

hashCode

int hashCode()

Overrides:

hashCode in class Object

Returns:

the hash code of the object

equals

boolean equals(Object obj)

Overrides:

equals in class Object

Parameters:

obj - another Pose

Returns:

true if position and rotation contains the exact same double values

epsilonEquals

boolean epsilonEquals(Pose other,
                      double epsilon)

Deprecated. Use epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)

Parameters:

other - another pose

epsilon - a number

Returns:

true if the pose of this and the other and the rotation of this and the other are only epsilon apart.

epsilonEquals

boolean epsilonEquals(Pose other,
                      double lengthEpsilon,
                      Length.Unit lengthUnit,
                      double angleEpsilon,
                      Angle.Unit angleUnit)

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

Parameters:

other - another Pose

lengthEpsilon - a tolerance for x, y, z

lengthUnit - enum to specify unit type of lengthEpsilon

angleEpsilon - a tolerance for rx, ry, rz

angleUnit - enum to specify unit type of angleEpsilon

Returns:

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

toString

String toString()

Overrides:

toString in class Object

Returns:

a string representation of the pose