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java.lang.Objectsk.robotics.rlcs.data.Position
public class Position
Robot position - [x,y] position, and heading (0..2pi). Objects of this class are immutable.
Nested Class Summary | |
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class |
Position.XmlMappable
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Constructor Summary | |
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Position(double x,
double y,
double h)
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Position(java.lang.String pos)
Contructs position from string returned by Robot.pos(). |
Method Summary | |
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java.awt.geom.Point2D |
asPoint2D()
Get the position as Point2D (without heading). |
int |
compareTo(Position p)
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double |
directionTo(java.awt.geom.Point2D p)
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static double |
directionTo(java.awt.geom.Point2D p1,
java.awt.geom.Point2D p2)
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double |
directionTo(Position p)
Computes direction to another point. |
double |
distance(java.awt.geom.Point2D p)
Computes distance from another point. |
double |
distance(Position p)
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boolean |
equals(java.lang.Object o)
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double |
getHeading()
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double |
getPosX()
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double |
getPosY()
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double |
getX()
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Position.XmlMappable |
getXmlMappable()
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double |
getY()
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int |
hashCode()
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double |
headingDiff(double h)
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static double |
headingDiff(double h1,
double h2)
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double |
headingDiff(Position p)
Computes heading difference between 2 positions. |
java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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clone, finalize, getClass, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public Position(double x, double y, double h)
public Position(java.lang.String pos)
Method Detail |
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public double getPosX()
public double getPosY()
public double getHeading()
public double getX()
public double getY()
public java.awt.geom.Point2D asPoint2D()
public java.lang.String toString()
toString
in class java.lang.Object
public boolean equals(java.lang.Object o)
equals
in class java.lang.Object
public int compareTo(Position p)
compareTo
in interface java.lang.Comparable<Position>
public int hashCode()
hashCode
in class java.lang.Object
public double distance(java.awt.geom.Point2D p)
public double distance(Position p)
public double directionTo(Position p)
public double directionTo(java.awt.geom.Point2D p)
public static double directionTo(java.awt.geom.Point2D p1, java.awt.geom.Point2D p2)
public double headingDiff(Position p)
public double headingDiff(double h)
public static double headingDiff(double h1, double h2)
public Position.XmlMappable getXmlMappable()
getXmlMappable
in interface com.microstepmis.xplatform.CustomXmlMappable
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