com.kuka.math.geometry
Class Point3D

java.lang.Object
  com.kuka.math.geometry.Point3D

All Implemented Interfaces:

Serializable

public final class Point3D
extends Object
implements Serializable

Immutable representation of a 3-dimensional point. To quote Murray, R. et al — A mathematical Introduction to Robotic Manipulation, Section 3.1 the following propositions are hold:

1. Sum and difference of vectors are vectors
2. The sum of a vector and a point is a point
3. The difference between two points is a vector
4. The sum of two points is meaningless

The Robotics API always expects instances of this class to be given in [mm].

See Also:

Serialized Form

Field Summary

static Point3D

ORIGIN Immutable Point3D instance representing the origin of a coordinate system.

Method Summary

Point3D	add(Vector3D other) Adds the given vector to this point, resulting in a new point.
boolean	equals(Object obj) Compares the specified object for equality with this point.
double	get(int index) Gets a coordinate of the point at the specified index, where 0 denotes the x, 1 the y and 2 the z coordinate.
double	getX() Returns the x coordinate of the point.
double	getY() Returns the y coordinate of the point.
double	getZ() Returns the z coordinate of the point.
int	hashCode() Returns the hash code for this point.
static Point3D	of(double x, double y, double z) Returns an immutable Point3D instance constructed from its cartesian X, Y and Z coordinates.
static Point3D	of(Vector3D vector) Returns an immutable Point3D instance from a vector that points from the origin to the new point.
Vector3D	subtract(Point3D other) Subtracts the given point from this point, resulting in the connecting vector pointing from the other point to this point.
String	toString() Returns the point value formatted as a column vector in a way compatible with popular scientific numerical computing applications.
String	toString(NumberFormat fmt) Returns the point value formatted as a column vector in a way similar to popular scientific numerical computing applications.
Vector3D	toVector() Returns this point as a vector, which is the vector pointing from the origin to this point.
Point3D	withX(double value) Returns a new instance (copy) of the point, with the x element replaced by the new value.
Point3D	withY(double value) Returns a new instance (copy) of the point, with the y element replaced by the new value.
Point3D	withZ(double value) Returns a new instance (copy) of the point, with the z element replaced by the new value.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

ORIGIN

public static final Point3D ORIGIN

Immutable Point3D instance representing the origin of a coordinate system.

Method Detail

of

public static Point3D of(double x,
                         double y,
                         double z)

Returns an immutable Point3D instance constructed from its cartesian X, Y and Z coordinates.

Parameters:

x - the cartesian X coordinate of the point

y - the cartesian Y coordinate of the point

z - the cartesian Z coordinate of the point

Returns:

an immutable Point3D instance

of

public static Point3D of(Vector3D vector)

Returns an immutable Point3D instance from a vector that points from the origin to the new point.

Parameters:

vector - the vector from origin to the point

Returns:

an immutable Point3D instance

Throws:

IllegalArgumentException - if vector is null

toVector

public Vector3D toVector()

Returns this point as a vector, which is the vector pointing from the origin to this point.

Returns:

a vector instance.

get

public double get(int index)

Gets a coordinate of the point at the specified index, where 0 denotes the x, 1 the y and 2 the z coordinate.

Parameters:

index - The index of the coordinate, must be between 0 and 2.

Returns:

The coordinate at the specified index.

Throws:

IndexOutOfBoundsException - illegal index

See Also:

getX(), getY(), getZ()

getX

public double getX()

Returns the x coordinate of the point.

Returns:

The x coordinate of the point.

See Also:

getY(), getZ(), get(int)

getY

public double getY()

Returns the y coordinate of the point.

Returns:

The y coordinate of the point.

See Also:

getX(), getZ(), get(int)

getZ

public double getZ()

Returns the z coordinate of the point.

Returns:

The z coordinate of the point.

See Also:

getX(), getY(), get(int)

withX

public Point3D withX(double value)

Returns a new instance (copy) of the point, with the x element replaced by the new value.

Parameters:

value - The x element of the point.

Returns:

a new instance of the class

withY

public Point3D withY(double value)

Returns a new instance (copy) of the point, with the y element replaced by the new value.

Parameters:

value - The y element of the point.

Returns:

a new instance of the class

withZ

public Point3D withZ(double value)

Returns a new instance (copy) of the point, with the z element replaced by the new value.

Parameters:

value - The z element of the point.

Returns:

a new instance of the class

add

public Point3D add(Vector3D other)

Adds the given vector to this point, resulting in a new point.

Parameters:

other - The vector which will be added to this point.

Returns:

The resulting point.

subtract

public Vector3D subtract(Point3D other)

Subtracts the given point from this point, resulting in the connecting vector pointing from the other point to this point.

Parameters:

other - The point which will be subtracted from this point.

Returns:

The resulting connecting vector.

toString

public String toString()

Returns the point value formatted as a column vector in a way compatible with popular scientific numerical computing applications. The numerical values will be printed in the same format as defined in Double.toString(double).

The following string can be regarded as typical:

[1.234; 300.0; -20.2]

Overrides:

toString in class Object

Returns:

a textual representation of the point

toString

public String toString(NumberFormat fmt)

Returns the point value formatted as a column vector in a way similar to popular scientific numerical computing applications. The numerical values will be printed using the NumberFormat.format(double) method of the given formatter.

Example: The following code snippet, used on a given Point3D point

 NumberFormat fmt = NumberFormat.getNumberInstance(Locale.US);
 fmt.setMinimumFractionDigits(1);
 fmt.setMaximumFractionDigits(3);
 System.out.println(point.toString(fmt));

might give the following output:

 [-1.234; 1.414; 20.0]

Parameters:

fmt - the NumberFormat used to format the number values

Returns:

a textual representation of the point

hashCode

public int hashCode()

Returns the hash code for this point. The hash code is computed by a combination of all the data elements defined by this interface.

Overrides:

hashCode in class Object

Returns:

hash code for this point.

equals

public boolean equals(Object obj)

Compares the specified object for equality with this point. Points are equal if all data elements returned by this interface are equal.

Overrides:

equals in class Object

Parameters:

obj - Object to be compared with this point.

Returns:

true if the object is equal to this point.