com.kuka.nav
Class TupleSE2

java.lang.Object
  com.kuka.nav.XYTheta
      com.kuka.nav.TupleSE2

All Implemented Interfaces:

com.kuka.parameters.IParameter, Serializable

Direct Known Subclasses:

Pose

public class TupleSE2
extends XYTheta

Class to represent a tuple of 2-dimensional coordinates (x, y) together with a rotation component (theta).

See Also:

Serialized Form

Field Summary

Fields inherited from class com.kuka.nav.XYTheta

_theta, _x, _y

Constructor Summary

TupleSE2()
Constructs the tuple (0, 0, 0).

TupleSE2(double x, double y, double theta)
Constructor.

TupleSE2(TupleSE2 other)
Copy constructor.

TupleSE2(XYTheta obj)
Constructs a tuple and sets its attribute to the attribute values of the given tuple.

Method Summary

TupleSE2	invert() Interprets this TupleSE2 as a coordinate transformation, inverts it and returns the result.
static TupleSE2	min(TupleSE2 o1, TupleSE2 o2) Returns a tuple with minimum x, y and theta values from the two input tuples.
TupleSE2	multiply(TupleSE2 other) 'Multiplies' this tuple with the passed one, i.e. calculates the transformation of this TupleSE2 by applying the passed TupleSE2 to it.
double	norm() Returns the euclidean norm of the (x, y) component of this tuple.
TupleSE2	substract(TupleSE2 other) Subtracts the passed TupleSE2 from this TupleSE2 by subtracting all three contained elements and returns the result.
String	toString()
TupleSE2	withTheta(double newTheta) Returns a new TupleSE2 with a changed theta-coordinate.
TupleSE2	withX(double newX) Returns a new TupleSE2 with a changed x-coordinate.
TupleSE2	withY(double newY) Returns a new TupleSE2 with a changed y-coordinate.

Methods inherited from class com.kuka.nav.XYTheta

copy, equals, getTheta, getX, getY, hashCode

Methods inherited from class java.lang.Object

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

Constructor Detail

TupleSE2

public TupleSE2()

Constructs the tuple (0, 0, 0).

TupleSE2

public TupleSE2(XYTheta obj)

Constructs a tuple and sets its attribute to the attribute values of the given tuple.

Parameters:

obj - tuple whose attribute values are copied

TupleSE2

public TupleSE2(TupleSE2 other)

Copy constructor.

Parameters:

other - the tuple to copy

TupleSE2

public TupleSE2(double x,
                double y,
                double theta)

Constructor.

Parameters:

x - The x-coordinate.

y - The y-coordinate.

theta - The theta-coordinate.

Method Detail

withX

public TupleSE2 withX(double newX)

Description copied from class: XYTheta

Returns a new TupleSE2 with a changed x-coordinate.

Overrides:

withX in class XYTheta

Parameters:

newX - the new x coordinate

Returns:

a new object with the changed value

withY

public TupleSE2 withY(double newY)

Description copied from class: XYTheta

Returns a new TupleSE2 with a changed y-coordinate.

Overrides:

withY in class XYTheta

Parameters:

newY - the new y coordinate

Returns:

a new object with the changed value

withTheta

public TupleSE2 withTheta(double newTheta)

Description copied from class: XYTheta

Returns a new TupleSE2 with a changed theta-coordinate.

Overrides:

withTheta in class XYTheta

Parameters:

newTheta - the new theta coordinate

Returns:

a new object with the changed value

substract

public TupleSE2 substract(TupleSE2 other)

Subtracts the passed TupleSE2 from this TupleSE2 by subtracting all three contained elements and returns the result.

Parameters:

other - the tuple to substract from this tuple

Returns:

a new tuple representing the result of the subtraction

invert

public TupleSE2 invert()

Interprets this TupleSE2 as a coordinate transformation, inverts it and returns the result.

Returns:

the inverse of this TupleSE2

multiply

public TupleSE2 multiply(TupleSE2 other)

'Multiplies' this tuple with the passed one, i.e. calculates the transformation of this TupleSE2 by applying the passed TupleSE2 to it. This can be interpreted as a coordinate transformation, first performing a rotation, then a translation.

Parameters:

other - the tuple to 'multiply' with

Returns:

the resulting transformation

norm

public double norm()

Returns the euclidean norm of the (x, y) component of this tuple.

Returns:

the euclidean norm

min

public static TupleSE2 min(TupleSE2 o1,
                           TupleSE2 o2)

Returns a tuple with minimum x, y and theta values from the two input tuples.

Parameters:

o1 - input tuple

o2 - input tuple

Returns:

tuple with minimum values

toString

public String toString()

Overrides:

toString in class XYTheta