com.kuka.geometry.forms
Class Sphere

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

public class Sphere
extends SpatialForm

Implements a sphere as a spatial form. The sphere is defined with a radius and a frame in the center.

Constructor Summary

Sphere(double radius)
Creates a new sphere instance with a given radius.

Method Summary

LocalFrame	createSurfaceFrame(String name, double phi, double theta) Creates a frame on the surface of the sphere.
Frame	getCenter() Gets the center frame of the sphere.
double	getRadius() Gets the radius.
void	setRadius(double radius) Sets the radius.

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

Sphere

public Sphere(double radius)

Creates a new sphere instance with a given radius. The reference frame is the center of the sphere.

Parameters:

radius - radius of the sphere

Method Detail

getRadius

public double getRadius()

Gets the radius.

Returns:

radius of the sphere

setRadius

public void setRadius(double radius)

Sets the radius.

Parameters:

radius - radius of the sphere

getCenter

public Frame getCenter()

Gets the center frame of the sphere.

Returns:

center frame

createSurfaceFrame

public LocalFrame createSurfaceFrame(String name,
                                     double phi,
                                     double theta)

Creates a frame on the surface of the sphere. The orientation of the frame is defined by a spherical transformation with its usual parameters azimuth angle phi and polar angle theta.

Parameters:

name - the name of the frame

phi - the azimuth angle of the surface frame in [rad]

theta - the polar angle of the surface frame in [rad]

Returns:

surface frame

See Also:

SphericalConnection