com.kuka.geometry
Class SceneGraphObjectFactory

java.lang.Object
  com.kuka.geometry.SceneGraphObjectFactory

public final class SceneGraphObjectFactory
extends Object

Not intended to be used by robot application developers! Offers methods for the creation of spatial objects and frames.

Method Summary

static ObjectFrame	createFrame(SpatialObject spatialObject, String name, ObjectFrame parent, ITransformation transformationFromParent, String id) Creates an object frame with given name, UUID, parent object frame and transformation from parent object frame - and with the spatial object to which the object frame should belong.
static SpatialObject	createSpatialObject(String name, String id) Creates a spatial object where name and UUID is given.

Methods inherited from class java.lang.Object

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

Method Detail

createSpatialObject

public static SpatialObject createSpatialObject(String name,
                                                String id)

Creates a spatial object where name and UUID is given.

Parameters:

name - object name

id - spatial object UUID

Returns:

spatial object

createFrame

public static ObjectFrame createFrame(SpatialObject spatialObject,
                                      String name,
                                      ObjectFrame parent,
                                      ITransformation transformationFromParent,
                                      String id)

Creates an object frame with given name, UUID, parent object frame and transformation from parent object frame - and with the spatial object to which the object frame should belong.

Parameters:

spatialObject - spatial object to which the object frame should belong

name - object frame name

parent - parent object frame

transformationFromParent - transformation from parent object

id - object frame UUID

Returns:

object frame