com.ur.urcap.api.domain.value

Interface PositionFactory

public interface PositionFactory

Factory for creating positions in Cartesian space (relative to a reference coordinate system).

The factory can, for example, be used to:

• Create a position to be used when constructing a pose with PoseFactory.createPose(Position, Rotation).
• Create the center of gravity to be used when constructing a custom parameters configuration for a Set Payload node with PayloadNodeConfigFactory.createCustomParametersConfig(Mass, Position).
• Create the center of gravity to be used when adding a payload to PolyScope or updating an existing payload with the PayloadContributionModel interface (e.g. using the method PayloadContributionModel.addPayload(String, String, Mass, Position, InertiaMatrix)).

Since:

1.13.0

Method Summary

Modifier and Type	Method and Description
Position	createPosition(double x, double y, double z, Length.Unit lengthUnit) Creates an object representing a Cartesian position with the specified coordinates.

Method Detail

createPosition

Position createPosition(double x,
                        double y,
                        double z,
                        Length.Unit lengthUnit)

Creates an object representing a Cartesian position with the specified coordinates.

Parameters:

x - X coordinate of the Cartesian position

y - Y coordinate of the Cartesian position

z - Z coordinate of the Cartesian position

lengthUnit - Length unit for the specified coordinates

Returns:

A new Cartesian position