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MapObject.java

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package edu.tum.cs.ias.knowrob.utils.owl;

import java.util.ArrayList;
import java.util.TreeSet;

import javax.vecmath.Matrix4d;
import javax.vecmath.Quat4d;
import javax.vecmath.Vector3d;


public class MapObject implements Comparable<MapObject>{
        
        public String id;
        
        public ArrayList<String> types;

        public Vector3d dimensions;
        
        public Matrix4d pose_matrix;
        
        public TreeSet<MapObject> physicalParts;        
        

        public MapObject () {
                
                this.types = new ArrayList<String>();
                
                this.dimensions = new Vector3d(); 
                this.pose_matrix = new Matrix4d();
                this.pose_matrix.setIdentity();
                
                this.physicalParts = new TreeSet<MapObject>();
        }


        public String getId() {
                return id;
        }


        public void setId(String id) {
                this.id = id;
        }


        public ArrayList<String> getTypes() {
                return types;
        }


        public void setTypes(ArrayList<String> types) {
                this.types = types;
        }


        public Vector3d getDimensions() {
                return dimensions;
        }


        public void setDimensions(Vector3d dimensions) {
                this.dimensions = dimensions;
        }


        public Matrix4d getPoseMatrix() {
                return pose_matrix;
        }


        public void setPoseMatrix(Matrix4d poseMatrix) {
                pose_matrix = poseMatrix;
        }
        
        public Vector3d getPosition() {
                return new Vector3d(pose_matrix.m03, 
                                                        pose_matrix.m13, 
                                                        pose_matrix.m23);
        }


        public void setPosition(Vector3d position) {
//              pose_matrix.setIdentity();
                pose_matrix.setM03(position.x);
                pose_matrix.setM13(position.y);
                pose_matrix.setM23(position.z);
        }

        
        
        // interface for setting/getting quaternion pose
        public Quat4d getPoseQuat() {
                Quat4d res = new Quat4d();
                res.set(this.pose_matrix);
                return res;
        }

        public void setPoseQuat(Vector3d translation, Quat4d orientation, double scale) {
                pose_matrix = new Matrix4d(orientation, translation, scale);
        }


        @Override
        public int compareTo(MapObject o) {
                return (this.id.compareTo(o.id));
        }
        
}

---

mod_semantic_map
Author(s): Moritz Tenorth
autogenerated on Tue Dec 4 04:48:12 2012