rcs.posemath

Class PmPose

java.lang.Object

rcs.posemath.PmPose

All Implemented Interfaces:

java.lang.Cloneable

Direct Known Subclasses:

PM_POSE

public class PmPose
extends java.lang.Object
implements java.lang.Cloneable

Field Summary

Fields

Modifier and Type	Field and Description
PmQuaternion	rot
PmCartesian	tran

Constructor Summary

Constructors

Constructor and Description
PmPose()
PmPose(double[][] dd)
PmPose(double tranx, double trany, double tranz, double rots, double rotx, double roty, double rotz)
PmPose(PmCartesian starttran, PmQuaternion startrot)
PmPose(PmCartesian starttran, PmRpy startrpy)
PmPose(PmHomogeneous hom)

Method Summary

Modifier and Type	Method and Description
PmPose	clone()
boolean	equals(PmHomogeneous h)
boolean	equals(PmPose p)
double[][]	toMatdd()
float[]	toMatFloatArrayTranspose()
java.lang.String	toString()
void	update(NMLFormatConverter nml_fc)

Methods inherited from class java.lang.Object

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

Field Detail

tran

public PmCartesian tran

rot

public PmQuaternion rot

Constructor Detail

PmPose

public PmPose()

PmPose

public PmPose(PmCartesian starttran,
              PmQuaternion startrot)

PmPose

public PmPose(PmCartesian starttran,
              PmRpy startrpy)
       throws PmException

Throws:

PmException

PmPose

public PmPose(PmHomogeneous hom)
       throws PmException

Throws:

PmException

PmPose

public PmPose(double[][] dd)
       throws PmException

Throws:

PmException

PmPose

public PmPose(double tranx,
              double trany,
              double tranz,
              double rots,
              double rotx,
              double roty,
              double rotz)
       throws PmException

Throws:

PmException

Method Detail

update

public void update(NMLFormatConverter nml_fc)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

equals

public boolean equals(PmPose p)
               throws PmException

Throws:

PmException

equals

public boolean equals(PmHomogeneous h)
               throws PmException

Throws:

PmException

clone

public PmPose clone()

Overrides:

clone in class java.lang.Object

toMatFloatArrayTranspose

public float[] toMatFloatArrayTranspose()
                                 throws PmException

Throws:

PmException

toMatdd

public double[][] toMatdd()
                   throws PmException

Throws:

PmException