com.kuka.geometry.connections
Class StaticConnection

java.lang.Object
  com.kuka.geometry.connections.StaticConnection

All Implemented Interfaces:

IFrameConnection, ITransformationConnection

public final class StaticConnection
extends Object
implements ITransformationConnection

An implementation of an immutable ITransformationConnection that contains a constant, unchanging spatial transformation.

Field Summary

static StaticConnection

IDENTITY A static connection that represents the identical position of the connected frames.

Method Summary

Transformation	getTransformationFromParent() Returns the transformation from the parent frame to the owner frame.
static StaticConnection	of(ITransformation trafoFromParent)
String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

IDENTITY

public static final StaticConnection IDENTITY

A static connection that represents the identical position of the connected frames.

Method Detail

of

public static StaticConnection of(ITransformation trafoFromParent)

Parameters:

trafoFromParent - the transformation from the connection's parent frame to the source frame (as defined in IFrameConnection)

Returns:

an immutable connection with the given transformation

getTransformationFromParent

public Transformation getTransformationFromParent()

Description copied from interface: ITransformationConnection

Returns the transformation from the parent frame to the owner frame. The returned transformation may either be constant or calculated in some way.

Specified by:

getTransformationFromParent in interface ITransformationConnection

Returns:

the transformation from the parent frame to the owner frame.

toString

public String toString()

Overrides:

toString in class Object