com.kuka.geometry
Class SpatialForm

java.lang.Object
  com.kuka.geometry.SpatialForm

Direct Known Subclasses:

Cuboid, Sphere

public class SpatialForm
extends Object

Base class for every spatial form.

Constructor Summary

SpatialForm()

Method Summary

protected LocalFrame	createFrame(String name, IFrameConnection parentConnection) Created a frame for given name and connection to the reference frame.
protected SpatialObject	getOwnerObject() Returns the owner object.
Frame	getReferenceFrame() Gets the reference object frame of the spatial form.
protected void	setOwnerObject(SpatialObject ownerObject) Sets the owner object.
void	setReferenceFrame(Frame referenceFrame) Sets the reference object frame of the spatial form.

Methods inherited from class java.lang.Object

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

Constructor Detail

SpatialForm

public SpatialForm()

Method Detail

getReferenceFrame

public Frame getReferenceFrame()

Gets the reference object frame of the spatial form.

Returns:

reference object frame

setReferenceFrame

public void setReferenceFrame(Frame referenceFrame)

Sets the reference object frame of the spatial form.

Parameters:

referenceFrame - reference object frame

createFrame

protected LocalFrame createFrame(String name,
                                 IFrameConnection parentConnection)

Created a frame for given name and connection to the reference frame.

Parameters:

name - frame name

parentConnection - connection to parent

Returns:

created frame

Throws:

IllegalStateException - if reference frame is null

getOwnerObject

protected SpatialObject getOwnerObject()

Returns the owner object. Called from SpatialObject.

Returns:

spatial object of this form

setOwnerObject

protected void setOwnerObject(SpatialObject ownerObject)

Sets the owner object. Called from SpatialObject when form changes in owner object.

Parameters:

ownerObject - owner object of the form