org.metacsp.multi.spatioTemporal.paths

Class PoseSteering

java.lang.Object

org.metacsp.multi.spatioTemporal.paths.PoseSteering

All Implemented Interfaces:

java.io.Serializable

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

Represents a pose with a steering angle.

Author:

Federico Pecora

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
PoseSteering(double x, double y, double theta, double steering) Create a PoseSteering given a position, orientation, and a steering angle.
PoseSteering(double x, double y, double z, double roll, double pitch, double yaw, double steering) Create a PoseSteering given a position, orientation, and a steering angle.
PoseSteering(Pose p, double steering) Create a PoseSteering given a Pose and a steering angle.

Method Summary

Modifier and Type	Method and Description
double	getPitch() Get the pitch of this PoseSteering.
Pose	getPose() Get the pose of this PoseSteering.
double	getRoll() Get the roll of this PoseSteering.
double	getSteering() Get the steering angle of this PoseSteering.
double	getTheta() Get the orientation of this PoseSteering.
double	getX() Get the X position of this PoseSteering.
double	getY() Get the Y position of this PoseSteering.
double	getYaw() Get the yaw of this PoseSteering.
double	getZ() Get the Z position of this PoseSteering.
PoseSteering	interpolate(PoseSteering p2, double ratio) Computes the PoseSteering between this PoseSteering and a given PoseSteering via bilinear interpolation.

Methods inherited from class java.lang.Object

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

Constructor Detail

PoseSteering

public PoseSteering(double x,
                    double y,
                    double z,
                    double roll,
                    double pitch,
                    double yaw,
                    double steering)

Create a PoseSteering given a position, orientation, and a steering angle.

Parameters:

x - X coordinate of the Pose.

y - Y coordinate of the Pose.

z - Z coordinate of the Pose.

roll - Orientation of the Pose around the x-axis.

pitch - Orientation of the Pose around the y-axis.

yaw - Orientation of the Pose around the z-axis.

steering - Steering angle of this PoseSteering.

PoseSteering

public PoseSteering(double x,
                    double y,
                    double theta,
                    double steering)

Create a PoseSteering given a position, orientation, and a steering angle.

Parameters:

x - X coordinate of the pose.

y - Y coordinate of the pose.

theta - Orientation of the pose.

steering - Steering angle of this PoseSteering.

PoseSteering

public PoseSteering(Pose p,
                    double steering)

Create a PoseSteering given a Pose and a steering angle.

Parameters:

p - Pose of this PoseSteering.

steering - Steering angle of this PoseSteering.

Method Detail

getX

public double getX()

Get the X position of this PoseSteering.

Returns:

The X position of this PoseSteering.

getY

public double getY()

Get the Y position of this PoseSteering.

Returns:

The Y position of this PoseSteering.

getZ

public double getZ()

Get the Z position of this PoseSteering.

Returns:

The Z position of this PoseSteering.

getTheta

public double getTheta()

Get the orientation of this PoseSteering.

Returns:

The orientation of this PoseSteering.

getRoll

public double getRoll()

Get the roll of this PoseSteering.

Returns:

The roll of this PoseSteering.

getPitch

public double getPitch()

Get the pitch of this PoseSteering.

Returns:

The pitch of this PoseSteering.

getYaw

public double getYaw()

Get the yaw of this PoseSteering.

Returns:

The yaw of this PoseSteering.

getPose

public Pose getPose()

Get the pose of this PoseSteering.

Returns:

The pose of this PoseSteering.

getSteering

public double getSteering()

Get the steering angle of this PoseSteering.

Returns:

The steering angle of this PoseSteering.

interpolate

public PoseSteering interpolate(PoseSteering p2,
                                double ratio)

Computes the PoseSteering between this PoseSteering and a given PoseSteering via bilinear interpolation.

Parameters:

p2 - The second PoseSteering used for interpolation.

ratio - Parameter in [0,1] used for bilinear interpolation.

Returns:

The PoseSteering between this PoseSteering and a given PoseSteering via bilinear interpolation.