Package edu.tufts.hrilab.consultant.pose

Class PoseReference

java.lang.Object

edu.tufts.hrilab.consultant.Reference

edu.tufts.hrilab.consultant.pose.PoseReference

public class PoseReference
extends Reference

Field Summary

Fields

Modifier and Type	Field	Description
protected javax.vecmath.Quat4d	orientation
protected Symbol	poseName
protected javax.vecmath.Point3d	position

Fields inherited from class edu.tufts.hrilab.consultant.Reference

properties, refId, variable

Constructor Summary

Constructors

Modifier	Constructor	Description
	PoseReference(Symbol ref, Variable variable)
protected	PoseReference(Symbol ref, Variable variable, List<Term> properties, javax.vecmath.Point3d position, javax.vecmath.Quat4d orientation)

Method Summary

Modifier and Type	Method	Description
javax.vecmath.Quat4d	getOrientation()
org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d>	getPose()
javax.vecmath.Point3d	getPosition()
boolean	hasPose()
void	setOrientation(javax.vecmath.Quat4d orientation)
void	setPose(javax.vecmath.Point3d position, javax.vecmath.Quat4d orientation)
void	setPosition(javax.vecmath.Point3d position)

Methods inherited from class edu.tufts.hrilab.consultant.Reference

getRefId, toString

Methods inherited from class java.lang.Object

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

Field Details

position

protected javax.vecmath.Point3d position

orientation

protected javax.vecmath.Quat4d orientation

poseName

protected Symbol poseName

Constructor Details

PoseReference

public PoseReference(Symbol ref,
 Variable variable)

PoseReference

protected PoseReference(Symbol ref,
 Variable variable,
 List<Term> properties,
 javax.vecmath.Point3d position,
 javax.vecmath.Quat4d orientation)

Method Details

getPosition

public javax.vecmath.Point3d getPosition()

getOrientation

public javax.vecmath.Quat4d getOrientation()

getPose

public org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> getPose()

setPosition

public void setPosition(javax.vecmath.Point3d position)

setOrientation

public void setOrientation(javax.vecmath.Quat4d orientation)

setPose

public void setPose(javax.vecmath.Point3d position,
 javax.vecmath.Quat4d orientation)

hasPose

public boolean hasPose()