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

Interface JointPositions

public interface JointPositions

This interface represents the positions of all of the joints in the robot arm.

A JointPositions object can be built using the JointPositionFactory interface.

Since:

1.2.56

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(JointPositions other, double epsilon, Angle.Unit unit) Indicates whether each element of some other JointPositions object is "approximately equal" to this one.
boolean	equals(Object obj) Indicates whether some other JointPositions object is "equal to" this one.
JointPosition[]	getAllJointPositions() Provides an array containing all the positions of the joints in the robot arm.
int	hashCode()
String	toString()

Method Detail

getAllJointPositions

JointPosition[] getAllJointPositions()

Provides an array containing all the positions of the joints in the robot arm.

Returns:

The individual joint position values.

epsilonEquals

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

Indicates whether each element of some other JointPositions object is "approximately equal" to this one.

Two joint positions objects are considered "approximately equal", if all the absolute differences between corresponding joint position values of the two joint positions instances 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(p1_1-p1_2), abs(p2_1-p2_2), abs(p3_1-p3_2), abs(p4_1-p4_2), abs(p5_1-p5_2), abs(p6_1-p6_2) ) <= epsilon.

Parameters:

other - Another JointPositions 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 values of this object are "approximately equal" to the values of the other argument; false otherwise.

equals

boolean equals(Object obj)

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

Overrides:

equals in class Object

Parameters:

obj - Another JointPositions object.

Returns:

true, if the values of this object are exactly the same as the values 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.