org.myrobotlab.kinematics

Class Point

java.lang.Object

org.myrobotlab.kinematics.Point

All Implemented Interfaces:

java.io.Serializable

public class Point
extends java.lang.Object
implements java.io.Serializable

Represents a 3d point in space. TODO: add rotation (roll/pitch/yaw - rz,rx,ry)

Author:

kwatters

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
Point(double x, double y, double z, double roll, double pitch, double yaw) A 6 dimensional vector representing the 6 degrees of freedom in space.
Point(Point copy)

Method Summary

Modifier and Type	Method and Description
Point	add(Point p) add the x,y,z,roll,pitch,yaw of the point passed in, to the current point.
java.lang.Double	distanceTo(Point point)
boolean	equals(java.lang.Object obj)
double	getPitch()
double	getRoll()
double	getX()
double	getY()
double	getYaw()
double	getZ()
int	hashCode()
double	magnitude()
Point	multiplyXYZ(double xyzScale) return a new point with the x,y,z values multipled by the xyzScale
void	setPitch(double pitch)
void	setRoll(double roll)
void	setX(double x)
void	setY(double y)
void	setYaw(double yaw)
void	setZ(double z)
Point	subtract(Point p)
java.lang.String	toString()
Point	unitVector(double unitSize)

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

Point

public Point(double x,
             double y,
             double z,
             double roll,
             double pitch,
             double yaw)

A 6 dimensional vector representing the 6 degrees of freedom in space.

Parameters:

x - - left / right axis

y - - up / down axis

z - - forward / backward axis

roll - - rotation about the z axis

pitch - - rotation about the x axis

yaw - - rotation about the y axis

Point

public Point(Point copy)

Method Detail

equals

public boolean equals(java.lang.Object obj)

Overrides:

equals in class java.lang.Object

getX

public double getX()

getY

public double getY()

getZ

public double getZ()

getRoll

public double getRoll()

getPitch

public double getPitch()

getYaw

public double getYaw()

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

magnitude

public double magnitude()

subtract

public Point subtract(Point p)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

setX

public void setX(double x)

setY

public void setY(double y)

setZ

public void setZ(double z)

setRoll

public void setRoll(double roll)

setPitch

public void setPitch(double pitch)

setYaw

public void setYaw(double yaw)

add

public Point add(Point p)

add the x,y,z,roll,pitch,yaw of the point passed in, to the current point. return a new point with the individual components summed.

Parameters:

p - the point to be added

Returns:

the new point

multiplyXYZ

public Point multiplyXYZ(double xyzScale)

return a new point with the x,y,z values multipled by the xyzScale

Parameters:

xyzScale - the scaling (maintain aspect ratios)

Returns:

the point as scaled

distanceTo

public java.lang.Double distanceTo(Point point)

unitVector

public Point unitVector(double unitSize)