Package org.opentcs.data.model
Class Pose
java.lang.Object
org.opentcs.data.model.Pose
- All Implemented Interfaces:
java.io.Serializable
public class Pose
extends java.lang.Object
implements java.io.Serializable
A pose consisting of a position and an orientation angle.
- See Also:
- Serialized Form
-
Constructor Summary
-
Method Summary
Modifier and Type Method Description booleanequals(java.lang.Object obj)doublegetOrientationAngle()The orientation angle in degrees (-360..360).TriplegetPosition()The position/coordinates in mm.inthashCode()java.lang.StringtoString()PosewithOrientationAngle(double orientationAngle)Creates a copy of this object, with the given orientation angle.PosewithPosition(Triple position)Creates a copy of this object, with the given position.
-
Constructor Details
-
Pose
Creates a new instance.- Parameters:
position- The position/coordinates in mm.orientationAngle- The orientation angle in degrees (-360..360). May be Double.NaN if unknown/undefined.
-
-
Method Details
-
getPosition
The position/coordinates in mm.- Returns:
- The position/coordinates in mm.
-
withPosition
Creates a copy of this object, with the given position.- Parameters:
position- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
-
getOrientationAngle
public double getOrientationAngle()The orientation angle in degrees (-360..360). May be Double.NaN if unknown/undefined.- Returns:
- The orientation angle in degrees, or Double.NaN.
-
withOrientationAngle
Creates a copy of this object, with the given orientation angle.- Parameters:
orientationAngle- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
-
hashCode
public int hashCode()- Overrides:
hashCodein classjava.lang.Object
-
equals
public boolean equals(java.lang.Object obj)- Overrides:
equalsin classjava.lang.Object
-
toString
public java.lang.String toString()- Overrides:
toStringin classjava.lang.Object
-