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).

Since:

1.0.0

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(Pose other, double epsilon) Deprecated. Use epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit) instead.
boolean	epsilonEquals(Pose other, double positionEpsilon, Length.Unit lengthUnit, double rotationEpsilon, 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) instead.
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:

The Cartesian position part of the pose.

getRotation

Rotation getRotation()

Returns:

The Cartesian rotation part (orientation) of the pose.

toArray

@Deprecated
double[] toArray()

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

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 length unit for which to return the X, Y, Z coordinates.

angleUnit - The angular unit for which to return the Rx, Ry, Rz orientation parameters.

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 the Cartesian position and rotation values of this Pose instance and the obj argument are exactly the same; otherwise false.

epsilonEquals

@Deprecated
boolean epsilonEquals(Pose other,
                                  double epsilon)

Deprecated. Use epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit) instead.

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

Parameters:

other - Another pose object.

epsilon - A tolerance value (in SI units) used for comparing the X, Y, Z coordinate values and Rx, Ry, Rz orientation parameters.

Returns:

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

epsilonEquals

boolean epsilonEquals(Pose other,
                      double positionEpsilon,
                      Length.Unit lengthUnit,
                      double rotationEpsilon,
                      Angle.Unit angleUnit)

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

Two poses are considered "approximately equal", if all the absolute differences between corresponding values of the two poses (i.e. the position coordinates and rotation parameters) are less than or equal to the specified tolerances. The distance metric used is the L-infinite metric (also called the maximum metric) with the equality criterion defined in the form of:
MAX( abs(X1-x2), abs(y1-y2), abs(z1-z2) ) <= positionEpsilon AND MAX( abs(rx1-rx2), abs(ry1-ry2), abs(rz1-rz2) ) <= rotationEpsilon

Parameters:

other - Another Pose object.

positionEpsilon - The tolerance value to be used for the comparison of X, Y, Z coordinates in specified units.

lengthUnit - The length unit for the specified positionEpsilon tolerance.

rotationEpsilon - The tolerance value to be used for the comparison of Rx, Ry, Rz orientation parameters in specified units.

angleUnit - The angular unit for the specified rotationEpsilon tolerance.

Returns:

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

Since:

1.2.56

toString

String toString()

Overrides:

toString in class Object

Returns:

A string representation of the pose.