com.kauailabs.sf2.pose

Class Pose

java.lang.Object

com.kauailabs.sf2.pose.Pose

All Implemented Interfaces:

IInterpolate<Pose>, ICopy<Pose>, IQuantity

public class Pose
extends java.lang.Object
implements IInterpolate<Pose>, ICopy<Pose>, IQuantity

The Pose class represents a 2-dimensional position, and a 3-dimensional orientation at a given instant in time. Note that the Pose class also provides a timestamp, representing the sensor timestamp for the "master timestamp clock source". In addition to representing a pose, the Pose class can also represent an amount of change in pose, in which case the timestamp represents the duration of time comprising that position and orientation motion.

Constructor Summary

Constructors

Constructor and Description
Pose()
Pose(Quaternion quat)
Pose(Quaternion quat, float x_offset_inches, float y_offset_inches)

Method Summary

Modifier and Type	Method and Description
void	addOffsets(float x_offset_delta_inches, float y_offset_delta_inches)
void	copy(Pose t)
boolean	getContainedQuantities(java.util.ArrayList<IQuantity> quantities)
boolean	getContainedQuantityNames(java.util.ArrayList<java.lang.String> quantity_names)
double	getOffsetInchesX()
double	getOffsetInchesY()
Quaternion	getOrientation()
boolean	getPrintableString(java.lang.StringBuilder printable_string)
static Unit.IUnit[]	getUnits()
Pose	instantiate_copy()
void	interpolate(Pose to, double time_ratio, Pose out)
static void	interpolate(Pose from, Pose to, double t, Pose out)
void	reset(Quaternion quat)
void	set(Quaternion quat, float x_offset_inches, float y_offset_inches)

Methods inherited from class java.lang.Object

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

Constructor Detail

Pose

public Pose()

Pose

public Pose(Quaternion quat)

Pose

public Pose(Quaternion quat,
            float x_offset_inches,
            float y_offset_inches)

Method Detail

set

public void set(Quaternion quat,
                float x_offset_inches,
                float y_offset_inches)

addOffsets

public void addOffsets(float x_offset_delta_inches,
                       float y_offset_delta_inches)

reset

public void reset(Quaternion quat)

getOrientation

public Quaternion getOrientation()

interpolate

public static void interpolate(Pose from,
                               Pose to,
                               double t,
                               Pose out)

getOffsetInchesX

public double getOffsetInchesX()

getOffsetInchesY

public double getOffsetInchesY()

copy

public void copy(Pose t)

Specified by:

copy in interface ICopy<Pose>

interpolate

public void interpolate(Pose to,
                        double time_ratio,
                        Pose out)

Specified by:

interpolate in interface IInterpolate<Pose>

instantiate_copy

public Pose instantiate_copy()

Specified by:

instantiate_copy in interface ICopy<Pose>

getContainedQuantities

public boolean getContainedQuantities(java.util.ArrayList<IQuantity> quantities)

Specified by:

getContainedQuantities in interface IQuantity

getUnits

public static Unit.IUnit[] getUnits()

getContainedQuantityNames

public boolean getContainedQuantityNames(java.util.ArrayList<java.lang.String> quantity_names)

Specified by:

getContainedQuantityNames in interface IQuantity

getPrintableString

public boolean getPrintableString(java.lang.StringBuilder printable_string)

Specified by:

getPrintableString in interface IQuantity