Uses of Interface
com.kuka.math.geometry.ITransformation

Packages that use ITransformation

com.kuka.geometry	This package contains interfaces and classes for the KUKA scene graph and geometry model.
com.kuka.geometry.connections	This package contains interfaces and classes describing connections between Frames.
com.kuka.geometry.forms	This package contains classes for usage of geometrical forms within the KUKA geometry model.
com.kuka.math.geometry	This package contains interfaces and implementations for basic linear algebra and geometric concepts.
com.kuka.math.physics	This package contains some utility classes for physical calculations.

Uses of ITransformation in com.kuka.geometry

Methods in com.kuka.geometry with parameters of type ITransformation

void	World.attachTo(ObjectFrame target, ITransformation rootDelta) Not supported for World.
void	SpatialObject.attachTo(ObjectFrame target, ITransformation rootDelta) Changes the parent of objects root frame to the given frame and sets the given transformation.
void	LocalFrame.connectToParent(Frame parent, ITransformation trafoFromParent) Changes this frame's parent and the connection to the parent.
static ObjectFrame	SceneGraphObjectFactory.createFrame(SpatialObject spatialObject, String name, ObjectFrame parent, ITransformation transformationFromParent, String id) Creates an object frame with given name, UUID, parent object frame and transformation from parent object frame - and with the spatial object to which the object frame should belong.
ObjectFrame	SpatialObject.createFrame(String name, ITransformation transformationFromParent) Creates a new object frame that belongs to this object.
ObjectFrame	SpatialObject.createFrame(String name, ObjectFrame parent, ITransformation transformationFromParent) Creates a new object frame that belongs to this object.
void	LocalFrame.setTransformationFromParent(ITransformation transformation)
void	ObjectFrame.transform(Frame reference, ITransformation delta)
void	Frame.transform(Frame reference, ITransformation delta) Changes this frame's position by applying the given translation and rotation to this frame in the coordinate system of the given reference frame.
void	Frame.transform(ITransformation delta) Changes this frame's position by applying the given translation and rotation to this frame in its own coordinate system.

Constructors in com.kuka.geometry with parameters of type ITransformation

LocalFrame(Frame parent, ITransformation trafoFromParent)
Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.

LocalFrame(String name, Frame parent, ITransformation trafoFromParent)
Creates a new frame instance that will use the given frame as parent, with a static connection to that frame.

Uses of ITransformation in com.kuka.geometry.connections

Methods in com.kuka.geometry.connections that return ITransformation

ITransformation

ITransformationConnection.getTransformationFromParent() Returns the transformation from the parent frame to the owner frame.

Methods in com.kuka.geometry.connections that return types with arguments of type ITransformation

Future<Map<QueryType,List<ITransformation>>>

ITrafoQueryProcessor.processQuery(Collection<QueryType> queryTypes, List<T> connections, Object queryContext) Query the sensors asynchronously, and for each given connection and query type return a corresponding ITransformation.

Methods in com.kuka.geometry.connections with parameters of type ITransformation

static StaticConnection

StaticConnection.of(ITransformation trafoFromParent)

Uses of ITransformation in com.kuka.geometry.forms

Methods in com.kuka.geometry.forms that return ITransformation

ITransformation	SphericalConnection.getTransformationFromParent()
ITransformation	CuboidConnection.getTransformationFromParent()

Uses of ITransformation in com.kuka.math.geometry

Classes in com.kuka.math.geometry that implement ITransformation

class	AbstractTransformation Represents a transformation in 3-dimensional space.
class	MatrixTransformation Immutable implementation of a spatial transformation in matrix form, that is the rotation part and the vector part of the homogeneous transformation matrix.
class	Transformation An immutable representation of a spatial transformation.
class	XyzAbcTransformation Immutable representation of a spatial transformation as a combination of x, y, z translational elements and α, β, γ (resp.

Methods in com.kuka.math.geometry that return ITransformation

ITransformation	ITransformation.compose(ITransformation other) If the transformations A and B are represented as homogeneous matrices, then the effect of A.compose(B) is that of the matrix multiplication A*B.
ITransformation	AbstractTransformation.compose(ITransformation other)
static ITransformation	MathUtils.defensiveCopy(ITransformation orig) Returns an immutable AbstractTransformation instance of the given transformation.
ITransformation	ITransformation.invert() Returns an inverted transformation, i.e. a transformation that reverses the effect of this one.
ITransformation	AbstractTransformation.invert()
ITransformation	ITransformation.transformationTo(ITransformation other) Calculates the transformation needed to move this transformation into the other transformation.
ITransformation	AbstractTransformation.transformationTo(ITransformation other)
ITransformation	AbstractTransformation.withRotation(IRotation rotation) Returns a new instance (copy) of the transformation, with the rotational part replaced by the given rotation.
ITransformation	AbstractTransformation.withTranslation(Vector3D translation) Returns a new instance (copy) of the transformation, with the translational part replaced by the given translation.

Methods in com.kuka.math.geometry with parameters of type ITransformation

Transformation	Transformation.compose(ITransformation other)
ITransformation	ITransformation.compose(ITransformation other) If the transformations A and B are represented as homogeneous matrices, then the effect of A.compose(B) is that of the matrix multiplication A*B.
ITransformation	AbstractTransformation.compose(ITransformation other)
static ITransformation	MathUtils.defensiveCopy(ITransformation orig) Returns an immutable AbstractTransformation instance of the given transformation.
double	ITransformation.distanceTo(ITransformation other) Calculates the euclidean distance of the origin of this transformation to the origin of the given transformation.
double	AbstractTransformation.distanceTo(ITransformation other)
static boolean	MathUtils.elementEqual(ITransformation a, ITransformation b, double epsilon) Checks if two transformations are approximately equal.
static XyzAbcTransformation	XyzAbcTransformation.of(ITransformation orig) Returns an immutable XyzAbcTransformation instance with the same value as the given transformation.
static Transformation	Transformation.of(ITransformation orig) Returns an immutable Transformation instance with the same value as the given transformation.
static MatrixTransformation	MatrixTransformation.of(ITransformation orig) Returns an immutable MatrixTransformation instance with the same value as the given transformation.
double	ITransformation.rotationalDistanceTo(ITransformation other) Calculates the rotational distance from this transformation to the other transformation.
double	AbstractTransformation.rotationalDistanceTo(ITransformation other)
Transformation	Transformation.transformationTo(ITransformation other)
ITransformation	ITransformation.transformationTo(ITransformation other) Calculates the transformation needed to move this transformation into the other transformation.
ITransformation	AbstractTransformation.transformationTo(ITransformation other)

Uses of ITransformation in com.kuka.math.physics

Methods in com.kuka.math.physics with parameters of type ITransformation

void	LoadData.setCenterOfMass(ITransformation centerOfMassMillimeter) Sets the center of mass for this object.

Constructors in com.kuka.math.physics with parameters of type ITransformation

LoadData(double mass, ITransformation centerOfMass, Inertia inertia)
Creates a new instance.