com.ur.urcap.api.domain.value

Interface Rotation

public interface Rotation

This interface represents a rotation vector specifying a Cartesian orientation.

Since:

1.0.0

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(Rotation other, double epsilon, Angle.Unit unit) Indicates whether some other Rotation object is "approximately equal" to this one.
boolean	equals(Object obj) Indicates whether some other Rotation object is "equal to" this one.
double	getRX() Deprecated. Use getRX(Angle.Unit) instead.
double	getRX(Angle.Unit unit) Provides the value of the Rx parameter in specified units.
double	getRY() Deprecated. Use getRY(Angle.Unit) instead.
double	getRY(Angle.Unit unit) Provides the Ry parameter value in specified units.
double	getRZ() Deprecated. Use getRZ(Angle.Unit) instead.
double	getRZ(Angle.Unit unit) Provides the Rz parameter value in specified units.
int	hashCode()
String	toString()

Method Detail

getRX

@Deprecated
double getRX()

Deprecated. Use getRX(Angle.Unit) instead.

Returns:

Rx parameter value in radians.

getRY

@Deprecated
double getRY()

Deprecated. Use getRY(Angle.Unit) instead.

Returns:

Ry parameter value in radians.

getRZ

@Deprecated
double getRZ()

Deprecated. Use getRZ(Angle.Unit) instead.

Returns:

Rz parameter value in radians.

getRX

double getRX(Angle.Unit unit)

Provides the value of the Rx parameter in specified units.

Parameters:

unit - The angular unit for which to return the Rx parameter

Returns:

The value of the Rx in specified units.

Since:

1.2.56

getRY

double getRY(Angle.Unit unit)

Provides the Ry parameter value in specified units.

Parameters:

unit - The angular unit for which to return the Ry parameter

Returns:

The value of the Ry in specified units.

Since:

1.2.56

getRZ

double getRZ(Angle.Unit unit)

Provides the Rz parameter value in specified units.

Parameters:

unit - The angular unit for which to return the Rz parameter

Returns:

The value of the Rz in specified units.

Since:

1.2.56

epsilonEquals

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

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

Two rotations are considered "approximately equal", if all the absolute differences between corresponding parameter values of the two rotations are less than or equal to the specified tolerance. 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(rx1-rx2), abs(ry1-ry2), abs(rz1-rz2) ) <= epsilon.

Parameters:

other - Another Rotation object.

epsilon - The tolerance value to be used for the comparison of rotation parameters (i.e. Rx, Ry, Rz) in specified units

unit - The angular unit for the specified epsilon tolerance.

Returns:

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

Since:

1.2.56

equals

boolean equals(Object obj)

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

Overrides:

equals in class Object

Parameters:

obj - Another Rotation object.

Returns:

true if the values of this Rotation instance and the obj argument are exactly the same; otherwise false.

hashCode

int hashCode()

Overrides:

hashCode in class Object

Returns:

A hash code value for this object.

Since:

1.2.56

toString

String toString()

Overrides:

toString in class Object

Returns:

A string representation of the rotation.

Since:

1.2.56