rcs.posemath
Class PmPose

java.lang.Object
  extended by 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
 PmQuaternion rot
           
 PmCartesian tran
           
 
Constructor Summary
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
 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