com.kuka.nav
Class XYTheta

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

All Implemented Interfaces:

com.kuka.parameters.IParameter, Serializable

Direct Known Subclasses:

TupleSE2

public class XYTheta
extends Object
implements com.kuka.parameters.IParameter, Serializable

See Also:

Serialized Form

Field Summary

protected double	_theta Theta coordinate.
protected double	_x X coordinate.
protected double	_y Y coordinate.

Constructor Summary

XYTheta()

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

Method Summary

com.kuka.parameters.IParameter	copy()
boolean	equals(Object obj)
double	getTheta() Returns the theta-coordinate.
double	getX() Returns the x-coordinate.
double	getY() Returns the y-coordinate.
int	hashCode()
String	toString()
XYTheta	withTheta(double newTheta) Returns a new TupleSE2 with a changed theta-coordinate.
XYTheta	withX(double newX) Returns a new TupleSE2 with a changed x-coordinate.
XYTheta	withY(double newY) Returns a new TupleSE2 with a changed y-coordinate.

Methods inherited from class java.lang.Object

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

Field Detail

_x

protected final double _x

X coordinate.

_y

protected final double _y

Y coordinate.

_theta

protected final double _theta

Theta coordinate.

Constructor Detail

XYTheta

public XYTheta()

XYTheta

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

Constructor.

Parameters:

x - The x-coordinate.

y - The y-coordinate.

theta - The theta-coordinate.

Method Detail

toString

public String toString()

Overrides:

toString in class Object

getX

public double getX()

Returns the x-coordinate.

Returns:

the x-coordinate

getY

public double getY()

Returns the y-coordinate.

Returns:

the y-coordinate

getTheta

public double getTheta()

Returns the theta-coordinate.

Returns:

the theta-coordinate

withX

public XYTheta withX(double newX)

Returns a new TupleSE2 with a changed x-coordinate.

Parameters:

newX - the new x coordinate

Returns:

a new object with the changed value

withY

public XYTheta withY(double newY)

Returns a new TupleSE2 with a changed y-coordinate.

Parameters:

newY - the new y coordinate

Returns:

a new object with the changed value

withTheta

public XYTheta withTheta(double newTheta)

Returns a new TupleSE2 with a changed theta-coordinate.

Parameters:

newTheta - the new theta coordinate

Returns:

a new object with the changed value

copy

public com.kuka.parameters.IParameter copy()

Specified by:

copy in interface com.kuka.parameters.IParameter

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object