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

Interface JointPositions

public interface JointPositions

This interface represents the positions of all of the joints in the robot arm.

A JointPositions object can be built using the JointPositionFactory interface.

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(JointPositions other, double epsilon, Angle.Unit unit) Indicates whether each element of some other JointPositions object is "approximately equal" to this one.
boolean	equals(Object obj) Indicates whether some other JointPositions object is "equal to" this one.
JointPosition[]	getAllJointPositions() Provides the array of JointPosition values.
int	hashCode()
String	toString()

Method Detail

getAllJointPositions

JointPosition[] getAllJointPositions()

Provides the array of JointPosition values.

Returns:

the joint position values.

epsilonEquals

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

Indicates whether each element of some other JointPositions object is "approximately equal" to this one.

Parameters:

other - another JointPositions object.

epsilon - a tolerance in the specified unit type.

unit - unit type of the epsilon tolerance.

Returns:

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

hashCode

int hashCode()

Overrides:

hashCode in class Object

Returns:

a hash code value for this object.

equals

boolean equals(Object obj)

Indicates whether some other JointPositions object is "equal to" this one.

Overrides:

equals in class Object

Parameters:

obj - another JointPositions object.

Returns:

true, if the value of this object is the same as the value of the obj argument; false otherwise.

toString

String toString()

Overrides:

toString in class Object

Returns:

a string representation of the joints positions.