com.kuka.roboticsAPI.geometricModel
Class SceneGraphUtilities

java.lang.Object
  com.kuka.roboticsAPI.geometricModel.SceneGraphUtilities

public final class SceneGraphUtilities
extends Object

Utility class for SceneGraph operations.

Method Summary

static PhysicalObject	createPhysicalSnapshot(PhysicalObject original, AbstractFrame motionFrame) Creates a physical representation snapshot of a PhysicalObject without logical information such as scene-graph information or other relationships.
static <T extends SceneGraphObject> T	createTreeSnapshot(T original) Creates a dummy SceneGraph-snapshot containing only the relevant relations but including load data.

Methods inherited from class java.lang.Object

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

Method Detail

createPhysicalSnapshot

public static PhysicalObject createPhysicalSnapshot(PhysicalObject original,
                                                    AbstractFrame motionFrame)

Creates a physical representation snapshot of a PhysicalObject without logical information such as scene-graph information or other relationships.

Parameters:

original - root PhysicalObject to create the snapshot from

motionFrame - Frame to set as defaultMotionFrame of the resulting snapshot object

Returns:

the physical snapshot of the root object

createTreeSnapshot

public static <T extends SceneGraphObject> T createTreeSnapshot(T original)

Creates a dummy SceneGraph-snapshot containing only the relevant relations but including load data.

Note: Use carefully with types other than PhysicalObject

Type Parameters:

T - type parameter of the root SceneGraphObject and the return value

Parameters:

original - root SceneGraphObject to copy the descendant tree from

Returns:

a deep copy of the original root SceneGraphObject with all relevant relations and load data

Throws:

IllegalStateException - when an instance in the tree can't be cloned

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.