com.ur.urcap.api.domain.value

Interface Pose

public interface Pose

Support for poses.

Method Summary

Methods

Modifier and Type	Method and Description
boolean	epsilonEquals(Pose other, double epsilon)
boolean	equals(Object obj)
Position	getPosition()
Rotation	getRotation()
int	hashCode()
double[]	toArray()
String	toString()

Method Detail

getPosition

Position getPosition()

Returns:

Position part

getRotation

Rotation getRotation()

Returns:

Rotation part

toArray

double[] toArray()

Returns:

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

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)

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.

toString

String toString()

Overrides:

toString in class Object

Returns:

a string representation of the pose

hashCode

int hashCode()

Overrides:

hashCode in class Object

Returns:

the hash code of the object