com.kuka.nav.geometry
Class Circle

java.lang.Object
  com.kuka.geometry.SpatialForm
      com.kuka.nav.geometry.SpatialForm2D
          com.kuka.nav.geometry.Circle

public class Circle
extends SpatialForm2D

Implements a circle as a spatial form. The sphere is defined with a radius and a frame in the center.

Constructor Summary

Circle(double radius)
Creates a new circle instance with a given radius.

Method Summary

boolean	approxEquals(SpatialForm2D other, double epsilon) Compares this form with another form and permits a degree of inaccuracy.
boolean	equals(Object obj)
com.kuka.geometry.Frame	getCenter() Gets the center frame of the sphere.
double	getRadius() Gets the radius.
int	hashCode()
void	setRadius(double radius) Sets the radius.

Methods inherited from class com.kuka.nav.geometry.SpatialForm2D

getName, setName

Methods inherited from class com.kuka.geometry.SpatialForm

createFrame, getOwnerObject, getReferenceFrame, setOwnerObject, setReferenceFrame

Methods inherited from class java.lang.Object

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

Constructor Detail

Circle

public Circle(double radius)

Creates a new circle instance with a given radius. The reference frame is the center of the sphere.

Parameters:

radius - radius of the sphere

Method Detail

getRadius

public double getRadius()

Gets the radius.

Returns:

radius of the sphere

setRadius

public void setRadius(double radius)

Sets the radius.

Parameters:

radius - radius of the sphere

getCenter

public com.kuka.geometry.Frame getCenter()

Gets the center frame of the sphere.

Returns:

center frame

hashCode

public int hashCode()

Overrides:

hashCode in class SpatialForm2D

equals

public boolean equals(Object obj)

Overrides:

equals in class SpatialForm2D

approxEquals

public boolean approxEquals(SpatialForm2D other,
                            double epsilon)

Description copied from class: SpatialForm2D

Compares this form with another form and permits a degree of inaccuracy.

Specified by:

approxEquals in class SpatialForm2D

Parameters:

other - another form

epsilon - the maximum envelope that coordinates can differ to still be considered equal

Returns:

true if the other form is of the same shape type and its parameters are within the epsilon envelope of this one