com.kuka.geometry.forms
Class Cuboid

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

public class Cuboid
extends SpatialForm

Implements a cuboid as a spatial form. The cuboid is defined by a reference frame that lies in a corner and three length parameters that span the cuboid along the positive axes of that frame.

See Also:

CuboidVertex

Constructor Summary

Cuboid(double x, double y, double z)
Creates a new cuboid instance.

Method Summary

LocalFrame	createVertexFrame(String name, CuboidVertex vertex) Creates a vertex frame.
double	getX() Returns the dimension on x-axis.
double	getY() Returns the dimension on y-axis.
double	getZ() Returns the dimension on z-axis.
void	setX(double x) Sets the dimension on x-axis.
void	setY(double y) Sets the dimension on y-axis.
void	setZ(double z) Sets the dimension on z-axis.

Methods inherited from class com.kuka.geometry.SpatialForm

createFrame, getOwnerObject, getReferenceFrame, setOwnerObject, setReferenceFrame

Methods inherited from class java.lang.Object

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

Constructor Detail

Cuboid

public Cuboid(double x,
              double y,
              double z)

Creates a new cuboid instance.

The cuboid is generated by spanning the given lengths along the reference frame's positive axes.

Parameters:

x - dimension on x-axis

y - dimension on y-axis

z - dimension on z-axis

See Also:

CuboidVertex

Method Detail

getX

public double getX()

Returns the dimension on x-axis.

Returns:

dimension on x-axis

setX

public void setX(double x)

Sets the dimension on x-axis.

Parameters:

x - dimension on x-axis

getY

public double getY()

Returns the dimension on y-axis.

Returns:

dimension on y-axis

setY

public void setY(double y)

Sets the dimension on y-axis.

Parameters:

y - dimension on y-axis

getZ

public double getZ()

Returns the dimension on z-axis.

Returns:

dimension on z-axis

setZ

public void setZ(double z)

Sets the dimension on z-axis.

Parameters:

z - dimension on z-axis

createVertexFrame

public LocalFrame createVertexFrame(String name,
                                    CuboidVertex vertex)

Creates a vertex frame. The orientation of the vertex frame matches the orientation of cuboid axes, the translation differs depending on the specified vertex.

Parameters:

name - the name of the frame

vertex - the vertex of the cuboid

Returns:

a new frame which represents the given vertex

See Also:

CuboidVertex