com.kuka.roboticsAPI.geometricModel
Class World

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.World

All Implemented Interfaces:

com.kuka.common.ITaggable

public final class World
extends SceneGraphObject

The world is a special scene graph object which represents the origin of the scene graph.

It exists only once (singleton) and most frames will need to be connected through one or more relations to its root.

Field Summary

static World	Current This is the singleton instance of the world.
static String	WORLD_FRAME_ID The WorldFrame is not persistent, but must have a unique ID.

Method Summary

protected void	changeParent(ObjectFrame frame) Changes the parent of this object.
Vector	getGravitation() Gets the gravitation vector of the world in [m/s^2].
void	setGravitation(double x, double y, double z) Sets the gravitation vector for the world in [m/s^2].
void	setGravitation(Vector gravitation) Sets the gravitation vector for the world.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getFrame, getName, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setName, setRootFrame, setUserParameter, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Field Detail

WORLD_FRAME_ID

public static final String WORLD_FRAME_ID

The WorldFrame is not persistent, but must have a unique ID.

See Also:

Constant Field Values

Current

public static final World Current

This is the singleton instance of the world.

This element is not in its final state and might change in future versions.

Method Detail

getGravitation

public Vector getGravitation()

Gets the gravitation vector of the world in [m/s^2]. On the earth, the vector should have the length 9.81 m/s^2.

Returns:

the gravitation vector of the world in [m/s^2]

This element is not in its final state and might change in future versions.

toString

public String toString()

Description copied from class: SceneGraphObject

Overrides:

toString in class SceneGraphObject

setGravitation

public void setGravitation(Vector gravitation)

Sets the gravitation vector for the world. On the earth, the vector should have the length 9.81.

Parameters:

gravitation - the gravitation vector for the world in [m/s^2]

This element is not in its final state and might change in future versions.

setGravitation

public void setGravitation(double x,
                           double y,
                           double z)

Sets the gravitation vector for the world in [m/s^2]. On the earth, the vector should have the length 9.81 m/s^2.

Parameters:

x - The x value in [m/s^2].

y - The y value in [m/s^2].

z - The z value in [m/s^2].

This element is not in its final state and might change in future versions.

changeParent

protected void changeParent(ObjectFrame frame)

Description copied from class: SceneGraphObject

Changes the parent of this object. Parent of the root frame of this object (or of parent of the group if grouped) should be changed.

Specified by:

changeParent in class SceneGraphObject

Parameters:

frame - new parent frame for the object root.