com.kuka.roboticsAPI.motionModel.kmp
Class MobilePlatformPosition

java.lang.Object
  com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformPosition

public class MobilePlatformPosition
extends Object

Represents a position (defined by translational and rotational components) of a mobile platform.

Constructor Summary

MobilePlatformPosition()
Creates a new instance with zero translational and rotational values.

MobilePlatformPosition(double x, double y, double theta)
Creates a new instance.

Method Summary

int	getDOFCount() Gets the degrees of freedom.
double	getTheta() Gets the rotational of theta.
double[]	getValues() Gets all translational and rotational values.
double	getX() Gets the position in x-direction.
double	getY() Gets the position in y-direction.
void	setTheta(double theta) Sets the rotational of theta.
void	setX(double x) Sets the position in x-direction.
void	setY(double y) Sets the position in y-direction.

Methods inherited from class java.lang.Object

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

Constructor Detail

MobilePlatformPosition

public MobilePlatformPosition()

Creates a new instance with zero translational and rotational values.

MobilePlatformPosition

public MobilePlatformPosition(double x,
                              double y,
                              double theta)

Creates a new instance.

Parameters:

x - the position in x-direction (in mm)

y - the position in y-direction (in mm)

theta - the rotation of theta (in rad)

Method Detail

getX

public double getX()

Gets the position in x-direction.

Returns:

the position in x-direction (in mm)

setX

public void setX(double x)

Sets the position in x-direction.

Parameters:

x - the position in x-direction to set (in mm)

getY

public double getY()

Gets the position in y-direction.

Returns:

the position in y-direction (in mm)

setY

public void setY(double y)

Sets the position in y-direction.

Parameters:

y - the position in y-direction to set (in mm)

getTheta

public double getTheta()

Gets the rotational of theta.

Returns:

the rotation of theta (in rad)

setTheta

public void setTheta(double theta)

Sets the rotational of theta.

Parameters:

theta - the rotation of theta to set (in rad)

getDOFCount

public int getDOFCount()

Gets the degrees of freedom.

Returns:

the degrees of freedom

getValues

public double[] getValues()

Gets all translational and rotational values.

Returns:

all translational and rotational values (measured in mm and rad)