Uses of Class
com.kuka.nav.TupleSE2

Packages that use TupleSE2

com.kuka.nav	Package providing public API for commanding robots.
com.kuka.nav.robot	Provides interfaces and classes for mobile robots.

Uses of TupleSE2 in com.kuka.nav

Subclasses of TupleSE2 in com.kuka.nav

class

Pose The class holding a robot pose.

Methods in com.kuka.nav that return TupleSE2

TupleSE2	TupleSE2.invert() Interprets this TupleSE2 as a coordinate transformation, inverts it and returns the result.
static TupleSE2	TupleSE2.min(TupleSE2 o1, TupleSE2 o2) Returns a tuple with minimum x, y and theta values from the two input tuples.
TupleSE2	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.
TupleSE2	TupleSE2.substract(TupleSE2 other) Subtracts the passed TupleSE2 from this TupleSE2 by subtracting all three contained elements and returns the result.
TupleSE2	TupleSE2.withTheta(double newTheta)
TupleSE2	TupleSE2.withX(double newX)
TupleSE2	TupleSE2.withY(double newY)

Methods in com.kuka.nav with parameters of type TupleSE2

Pose	Pose.add(TupleSE2 other)
boolean	Pose.approxEqualsCart(TupleSE2 pose) Indicates whether the cartesian distance of the (x,y)-values and the distance of the angles of this pose and the given one are approximately equal with a tolerance of 1e-11.
boolean	Pose.approxEqualsCart(TupleSE2 pose, double toleranceLinear, double toleranceAngular) Indicates whether the cartesian distance of the (x,y)-values and the distance of the angles of this pose and the given one are approximately equal with the given translational and rotational tolerance.
boolean	Pose.approxEqualsMax(TupleSE2 pose) Indicates whether some other NavigationPose is "equal to" this one with a tolerance linear and angular tolerance of 1E-11 (with respect to the maximum norm).
boolean	Pose.approxEqualsMax(TupleSE2 pose, double toleranceLinear, double toleranceAngular) Indicates whether some other NavigationPose is "equal to" this one with respect to the given tolerance (with respect to the maximum norm).
double	Pose.distanceRot(TupleSE2 pose) Calculates the angular difference between this pose and the given one.
double	Pose.distanceTrans(TupleSE2 pose) Calculates the euclidean square-norm of the robots pose to a given pose in the 2-dimensional phase space (x,y).
static TupleSE2	TupleSE2.min(TupleSE2 o1, TupleSE2 o2) Returns a tuple with minimum x, y and theta values from the two input tuples.
TupleSE2	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.
Pose	Pose.multiply(TupleSE2 other)
TupleSE2	TupleSE2.substract(TupleSE2 other) Subtracts the passed TupleSE2 from this TupleSE2 by subtracting all three contained elements and returns the result.
Pose	Pose.subtract(TupleSE2 other)

Constructors in com.kuka.nav with parameters of type TupleSE2

Pose(TupleSE2 t)
Creates a pose from a tuple t (consisting of a twodimensional coordinate and an angle).

TupleSE2(TupleSE2 other)
Copy constructor.

Uses of TupleSE2 in com.kuka.nav.robot

Methods in com.kuka.nav.robot that return TupleSE2

TupleSE2	MobileRobotType.getCenterOfOdometry() Returns the offset in x, y, theta of the odometry center relative to the geometric center of the robot.
TupleSE2	MobileRobotType.getMaxAcceleration() Returns the maximal translational acceleration in x, y, theta of this robot type.
TupleSE2	MobileRobotType.getMaxDeceleration() Returns the maximal translational deceleration in x, y, theta of this robot type.
TupleSE2	MobileRobotType.getMaxVelocity() Returns the maximal translational velocity in x, y, theta of this robot type.
TupleSE2	MobileRobotStateSnapshot.getVelocity() Provides the current velocity profile of the robot.