com.ur.urcap.api.domain.value

Interface Pose

public interface Pose

This interface represents a pose in Cartesian space (relative to a reference coordinate system).

A pose can, fe.g. describe the position of the robot tool (e.g. w.r.t. to robot base) or the TCP offset (relative to the center of the tool output flange).

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 some other Pose is "approximately equal" to this one.
boolean	equals(Object obj) Indicates whether some other Pose object is "equal to" this object.
Position	getPosition()
Rotation	getRotation()
int	hashCode()
double[]	toArray() Deprecated. Use toArray(Length.Unit, Angle.Unit)
double[]	toArray(Length.Unit lengthUnit, Angle.Unit angleUnit) Provides an array containing the X, Y, Z coordinates of the position part and the Rx, Ry, Rz parameters of the rotation part in specified units.
String	toString()

Method Detail

getPosition

Position getPosition()

Returns:

Position part of the pose

getRotation

Rotation getRotation()

Returns:

Rotation part (orientation) of the pose

toArray

double[] toArray()

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

Provides an array containing the X, Y, Z coordinates of the position part and the Rx, Ry, Rz parameters of the rotation part.

Returns:

a new array with the X, Y, Z coordinates in meters (position part) and Rx, Ry, Rz parameters in radians (rotation part).

toArray

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

Provides an array containing the X, Y, Z coordinates of the position part and the Rx, Ry, Rz parameters of the rotation part in specified units.

Parameters:

lengthUnit - the type of unit to return the X, Y, Z coordinates in

angleUnit - the type of unit to return the Rx, Ry, Rz orientation parameters in

Returns:

a new array with the values of the X, Y, Z coordinates (position part) and Rx, Ry, Rz parameters (rotation part) in specified units.

hashCode

int hashCode()

Overrides:

hashCode in class Object

Returns:

the hash code of this object

equals

boolean equals(Object obj)

Indicates whether some other Pose object is "equal to" this object.

Overrides:

equals in class Object

Parameters:

obj - another Pose object

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)

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

Parameters:

other - another pose object

epsilon - a tolerance value for the X, Y, Z coordinate values

Returns:

true if the value of this object is "approximately equal" to the value of the other argument; false otherwise.

epsilonEquals

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

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

Parameters:

other - another Pose object

lengthEpsilon - a tolerance value for the X, Y, Z coordinates in specified unit type

lengthUnit - unit type of the lengthEpsilon tolerance

angleEpsilon - a tolerance value for Rx, Ry, Rz orientation parameters in specified unit type

angleUnit - unit type of the angleEpsilon tolerance

Returns:

true if the value of this object is "approximately equal" to the value of the other argument; false otherwise.

toString

String toString()

Overrides:

toString in class Object

Returns:

a string representation of the pose