com.kuka.nav.geometry
Class BlendingDiscretizationInfo

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

public class BlendingDiscretizationInfo
extends Object

Wrapper class holding information about how a blending arc is discretized. It stores a list of oriented poses. The poses indicate where the arc was sampled and the orientation is to be understood to be the orientation the robot has at this point with respect to the arc. Furthermore, the class holds the actual blending radius according to which the arc was blended.

Constructor Summary

BlendingDiscretizationInfo(List<com.kuka.util.Pair<Pose,Double>> poses, Double radius)
Constructor.

Method Summary

List<com.kuka.util.Pair<Pose,Double>>	getPoses() Returns the list of oriented poses where the arc was sampled.
Double	getRadius() Returns the actual blending radius.

Methods inherited from class java.lang.Object

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

Constructor Detail

BlendingDiscretizationInfo

public BlendingDiscretizationInfo(List<com.kuka.util.Pair<Pose,Double>> poses,
                                  Double radius)

Constructor.

Parameters:

poses - the list of oriented poses indicating how the arc was sampled

radius - the actual blending radius

Method Detail

getPoses

public List<com.kuka.util.Pair<Pose,Double>> getPoses()

Returns the list of oriented poses where the arc was sampled. Each entry consists of a pose and an orientation. The pose indicates the pose where the arc was sampled and the orientation indicates the orientation of the robot at this pose with regard to the arc.

Returns:

the list of oriented poses

getRadius

public Double getRadius()

Returns the actual blending radius.

Returns:

the actual blending radius.