com.kuka.nav.geometry
Class BlendingContext

java.lang.Object
  com.kuka.nav.geometry.BlendingContext

public class BlendingContext
extends Object

General context information for spline calculation to define the segments and orientations.

Constructor Summary

BlendingContext(Pose start, Pose goal, double orientationOffset)
Constructor.

Method Summary

void	addSegments(List<SplineSegment> segments) Adds a list of segments to the list.
Pose	getGoal() Returns the goal pose on edge.
double	getOrientationOffset() Returns the orientation offset.
List<SplineSegment>	getSegmentList() Returns the list of segments or an empty list if no segments are defined.
Pose	getStart() Returns the start pose on edge.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

BlendingContext

public BlendingContext(Pose start,
                       Pose goal,
                       double orientationOffset)

Constructor.

Parameters:

start - start pose on edge

goal - goal pose on edge

orientationOffset - offset to edge orientation to 0

Method Detail

getStart

public Pose getStart()

Returns the start pose on edge.

Returns:

the start

getGoal

public Pose getGoal()

Returns the goal pose on edge.

Returns:

the goal

getSegmentList

public List<SplineSegment> getSegmentList()

Returns the list of segments or an empty list if no segments are defined.

Returns:

the segmentList

addSegments

public void addSegments(List<SplineSegment> segments)

Adds a list of segments to the list.

Parameters:

segments - list of segments

getOrientationOffset

public double getOrientationOffset()

Returns the orientation offset.

Returns:

the orientationOffset