Public Member Functions | |
void | addPhysicalPart (ObjectInstance part) |
Vector3d | getDimensions () |
Vector< ObjectInstance > | getPhysicalParts () |
Vector< Float > | getPoseAsVector () |
Matrix4d | getPoseMatrix () |
Quat4d | getPoseQuaternion () |
Vector3d | getPosition () |
boolean | hasPhysicalPart (ObjectInstance part) |
void | readFromProlog () |
void | readFromPrologWithChildren () |
void | removePhysicalPart (ObjectInstance part) |
void | setDimensions (Vector3d dimensions) |
void | setPhysicalParts (Vector< ObjectInstance > physicalParts) |
void | setPoseMatrix (Matrix4d poseMatrix) |
void | setPoseQuaternion (Vector3d translation, Quat4d orientation, double scale) |
void | setPosition (Vector3d position) |
void | writeToProlog () |
Static Public Member Functions | |
static ObjectInstance | getObjectInstance (String iri, String label) |
static ObjectInstance | getObjectInstance (String iri) |
Protected Member Functions | |
ObjectInstance (String iri, String label) | |
ObjectInstance (OWLIndividual ind) | |
Protected Attributes | |
Vector3d | dimensions |
Vector< ObjectInstance > | physicalParts |
Matrix4d | pose_matrix |
Definition at line 13 of file ObjectInstance.java.
edu.tum.cs.ias.knowrob.owl.ObjectInstance.ObjectInstance | ( | String | iri, |
String | label | ||
) | [inline, protected] |
Constructor. Set the IRI and optionally a label. If none is given, it is initialized with the IRI's short name.
iri | Identifier of this thing. |
Definition at line 39 of file ObjectInstance.java.
edu.tum.cs.ias.knowrob.owl.ObjectInstance.ObjectInstance | ( | OWLIndividual | ind | ) | [inline, protected] |
Copy constructor: create ObjectInstance from more generic OWLIndividual
ind | OWLIndividual to be copied into this ObjectInstance |
Definition at line 56 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.addPhysicalPart | ( | ObjectInstance | part | ) | [inline] |
physicalParts |
Definition at line 123 of file ObjectInstance.java.
Vector3d edu.tum.cs.ias.knowrob.owl.ObjectInstance.getDimensions | ( | ) | [inline] |
Get the dimensions of the 3D bounding box
Definition at line 155 of file ObjectInstance.java.
static ObjectInstance edu.tum.cs.ias.knowrob.owl.ObjectInstance.getObjectInstance | ( | String | iri, |
String | label | ||
) | [inline, static] |
ObjectInstance factory. Return existing instance, if available, and create new ObjectInstance instance if necessary. Avoids duplicate instances with the same IRI.
iri | Identifier of this thing. |
label | Optional natural-language label. |
Definition at line 74 of file ObjectInstance.java.
static ObjectInstance edu.tum.cs.ias.knowrob.owl.ObjectInstance.getObjectInstance | ( | String | iri | ) | [inline, static] |
ObjectInstance factory. Return existing instance, if available, and create new ObjectInstance instance if necessary. Avoids duplicate instances with the same IRI.
iri | Identifier of this thing. |
Definition at line 95 of file ObjectInstance.java.
Vector<ObjectInstance> edu.tum.cs.ias.knowrob.owl.ObjectInstance.getPhysicalParts | ( | ) | [inline] |
Definition at line 106 of file ObjectInstance.java.
Vector<Float> edu.tum.cs.ias.knowrob.owl.ObjectInstance.getPoseAsVector | ( | ) | [inline] |
Definition at line 239 of file ObjectInstance.java.
Matrix4d edu.tum.cs.ias.knowrob.owl.ObjectInstance.getPoseMatrix | ( | ) | [inline] |
Quat4d edu.tum.cs.ias.knowrob.owl.ObjectInstance.getPoseQuaternion | ( | ) | [inline] |
Interface for getting the orientation as quaternion.
Definition at line 219 of file ObjectInstance.java.
Vector3d edu.tum.cs.ias.knowrob.owl.ObjectInstance.getPosition | ( | ) | [inline] |
Get only the translation component of the pose (3D position)
Definition at line 195 of file ObjectInstance.java.
boolean edu.tum.cs.ias.knowrob.owl.ObjectInstance.hasPhysicalPart | ( | ObjectInstance | part | ) | [inline] |
physicalParts |
Definition at line 141 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.readFromProlog | ( | ) | [inline] |
Definition at line 251 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.readFromPrologWithChildren | ( | ) | [inline] |
Definition at line 256 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.removePhysicalPart | ( | ObjectInstance | part | ) | [inline] |
physicalParts |
Definition at line 132 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.setDimensions | ( | Vector3d | dimensions | ) | [inline] |
Set the dimensions of the 3D bounding box
dimensions | Vector with the object dimensions |
Definition at line 165 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.setPhysicalParts | ( | Vector< ObjectInstance > | physicalParts | ) | [inline] |
physicalParts |
Definition at line 114 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.setPoseMatrix | ( | Matrix4d | poseMatrix | ) | [inline] |
Set the 4x4 pose matrix
poseMatrix | Pose matrix |
Definition at line 185 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.setPoseQuaternion | ( | Vector3d | translation, |
Quat4d | orientation, | ||
double | scale | ||
) | [inline] |
Interface for setting the pose as vector and quaternion.
translation | Position vector |
orientation | Orientation quaternion |
scale | Scale value |
Definition at line 233 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.setPosition | ( | Vector3d | position | ) | [inline] |
Set only the translation component of the pose
position | Position vector |
Definition at line 207 of file ObjectInstance.java.
void edu.tum.cs.ias.knowrob.owl.ObjectInstance.writeToProlog | ( | ) | [inline] |
Reimplemented from edu.tum.cs.ias.knowrob.owl.OWLIndividual.
Reimplemented in edu.tum.cs.ias.knowrob.owl.JointInstance.
Definition at line 264 of file ObjectInstance.java.
Vector3d edu.tum.cs.ias.knowrob.owl.ObjectInstance.dimensions [protected] |
Dimensions of the bounding box of the object
Definition at line 19 of file ObjectInstance.java.
Vector<ObjectInstance> edu.tum.cs.ias.knowrob.owl.ObjectInstance.physicalParts [protected] |
Set of direct child objects (physical decomposition)
Definition at line 29 of file ObjectInstance.java.
Matrix4d edu.tum.cs.ias.knowrob.owl.ObjectInstance.pose_matrix [protected] |
4x4 pose matrix describing the position and orientation
Definition at line 24 of file ObjectInstance.java.