com.kuka.nav.rel
Class RelativeMotions

java.lang.Object
  com.kuka.nav.rel.RelativeMotions

public final class RelativeMotions
extends Object

Helper class to create relative motions.

Method Summary

static RelativeMotion	relative(double x, double y, double theta) Creates a new relative motion to the given pose (x, y, theta) relative to the robot.
static RelativeMotion	relative(Pose goal) Creates a relative motion.

Methods inherited from class java.lang.Object

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

Method Detail

relative

public static RelativeMotion relative(double x,
                                      double y,
                                      double theta)

Creates a new relative motion to the given pose (x, y, theta) relative to the robot.

Parameters:

x - the x coordinate of the goal pose

y - the y coordinate of the goal pose

theta - the orientation of the goal pose in [rad]

Returns:

the motion

relative

public static RelativeMotion relative(Pose goal)

Creates a relative motion.

Parameters:

goal - The pose relative to the robot

Returns:

the motion