com.kuka.geometry
Class RedundancyUtils

java.lang.Object
  com.kuka.geometry.RedundancyUtils

public final class RedundancyUtils
extends Object

Utility class providing static helper methods for frame copy operations, that preserve frame's redundancy information.

Method Summary

static LocalFrame

copyWithRedundancy(Frame orig, Frame newParent) Creates a snapshot copy of the given Frame (including its redundancy information) into a new LocalFrame.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

copyWithRedundancy

public static LocalFrame copyWithRedundancy(Frame orig,
                                            Frame newParent)

Creates a snapshot copy of the given Frame (including its redundancy information) into a new LocalFrame. The parent of the newly created frame is given by newParent. The new frame's transformation to its new parent will be a snapshot of the current transformation of the given frame to the new parent.

Parameters:

orig - a frame that will be copied together with its redundancy information

newParent - the parent for the newly created copy of the original frame

Returns:

a copy of the orig frame (including its redundancy information) with the given newParent.

Throws:

IllegalArgumentException - if there is no static connection between orig and newParent, or if any argument is null

IllegalArgumentException - if there is no connection or an unknown connection type between the original frame and the new parent frame, or if any argument is null

IllegalStateException - if the relation between the involved frames could not be determined

ThreadInterruptedException - if the thread was interrupted during execution. The thread interrupt flag will be set if the thread was interrupted (that is, Thread.isInterrupted() will return true)

See Also:

LocalFrame.copyOf(Frame orig, Frame newParent)