com.ur.urcap.api.domain.value

Interface PoseFactory

public interface PoseFactory

Method Summary

Modifier and Type	Method and Description
Pose	createPose(double x, double y, double z, double rx, double ry, double rz, Length.Unit lengthUnit, Angle.Unit angleUnit) Creates a Pose object with the specified Cartesian position and orientation (rotation)

Method Detail

createPose

Pose createPose(double x,
                double y,
                double z,
                double rx,
                double ry,
                double rz,
                Length.Unit lengthUnit,
                Angle.Unit angleUnit)

Creates a Pose object with the specified Cartesian position and orientation (rotation)

Parameters:

x - x-coordinate of the position

y - y-coordinate of the position

z - z-coordinate of the position

rx - rx-parameter of the rotation vector specifying the orientation

ry - ry-parameter of the rotation vector specifying the orientation

rz - rz-parameter of the rotation vector specifying the orientation

lengthUnit - enum to specify the position unit type

angleUnit - enum to specify the rotation unit type

Returns:

the Pose