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

Interface JointPosition

public interface JointPosition

This interface represents the position of a single joint of the robot arm

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(JointPosition other, double epsilon, Angle.Unit unit) Indicates whether some other JointPosition object is "approximately equal" to this one.
boolean	equals(Object obj) Indicates whether some other JointPosition object is "equal to" this one.
double	getAngle(Angle.Unit unit) Provides the angle offset in the range [0:2pi[ (RAD) or [0:360[ (DEG)
double	getPosition(Angle.Unit unit) Provides the value of the joint position including all revolutions in the specified unit.
long	getRevolutions() Provides the number of whole revolutions
int	hashCode()
String	toString()

Method Detail

getPosition

double getPosition(Angle.Unit unit)

Provides the value of the joint position including all revolutions in the specified unit.

Alternatively, the number of revolutions and the corresponding angle offset can be retrieved with getAngle(Angle.Unit) and getRevolutions(), respectively.

Parameters:

unit - the unit type

Returns:

position value in specified units

getRevolutions

long getRevolutions()

Provides the number of whole revolutions

Returns:

number of revolutions

getAngle

double getAngle(Angle.Unit unit)

Provides the angle offset in the range [0:2pi[ (RAD) or [0:360[ (DEG)

Parameters:

unit - the unit type

Returns:

angle value in specified units

epsilonEquals

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

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

Parameters:

other - another JointPosition object

epsilon - a tolerance

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 JointPosition object is "equal to" this one.

Overrides:

equals in class Object

Parameters:

obj - another JointPosition 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