public interface Pose
A pose can, for example, 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).
Modifier and Type | Method and Description |
---|---|
boolean |
epsilonEquals(Pose other,
double epsilon)
Deprecated.
|
boolean |
epsilonEquals(Pose other,
double lengthEpsilon,
Length.Unit lengthUnit,
double angleEpsilon,
Angle.Unit angleUnit)
Indicates whether of some other Pose is "approximately equal" to this one.
|
boolean |
equals(Object obj) |
Position |
getPosition() |
Rotation |
getRotation() |
int |
hashCode() |
double[] |
toArray()
Deprecated.
|
double[] |
toArray(Length.Unit lengthUnit,
Angle.Unit angleUnit) |
String |
toString() |
Position getPosition()
Rotation getRotation()
double[] toArray()
toArray(Length.Unit, Angle.Unit)
double[] toArray(Length.Unit lengthUnit, Angle.Unit angleUnit)
lengthUnit
- the unit to use for x, y, zangleUnit
- the unit to use for rx, ry, rzboolean equals(Object obj)
boolean epsilonEquals(Pose other, double epsilon)
epsilonEquals(Pose, double, Length.Unit, double, Angle.Unit)
other
- another poseepsilon
- a numberboolean epsilonEquals(Pose other, double lengthEpsilon, Length.Unit lengthUnit, double angleEpsilon, Angle.Unit angleUnit)
other
- another PoselengthEpsilon
- a tolerance for x, y, zlengthUnit
- enum to specify unit type of lengthEpsilonangleEpsilon
- a tolerance for rx, ry, rzangleUnit
- enum to specify unit type of angleEpsilontrue
if this object contains the "approximately equal in tolerance" in value as the obj
argument; false
otherwise.Copyright © 2019. All rights reserved.