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.

Since:

1.2.56

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 angular unit for which to return the joint position.

Returns:

The joint 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 angular unit for which to return the angle offset value.

Returns:

The angle offset 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.

Two joint positions are considered "approximately equal", if the absolute differences between the two joint position values are less than or equal to the specified tolerance (i.e. the equality criterion is: abs(p1-p2) <= epsilon).

Parameters:

other - Another JointPosition object.

epsilon - The tolerance value to be used for the comparison of joint position values in specified units.

unit - The angular unit for the specified epsilon tolerance.

Returns:

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

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 joint position value of this object is exactly the same as the joint position value of the obj argument; false otherwise.

hashCode

int hashCode()

Overrides:

hashCode in class Object

Returns:

A hash code value for this object.

toString

String toString()

Overrides:

toString in class Object

Returns:

A string representation of the joints positions.