Pose.java

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/*
 * Created on Oct 19, 2009
 *
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package edu.tum.cs.ias.knowrob.vis.items.transform;

import edu.tum.cs.ias.knowrob.vis.Canvas;

public class Pose implements Cloneable, DrawingTransformation {
        public float x, y, z, xRot, yRot, zRot, scale;
        
        public Pose(float x, float y, float z, float xRot, float yRot, float zRot, float scale) {
                this.x = x;
                this.y = y;
                this.z = z;
                this.xRot = xRot;
                this.yRot = yRot;
                this.zRot = zRot;
                this.scale = scale;
        }

        public void applyTransformation(Canvas c) {
                c.translate(x, y, z);
                c.scale(scale);
                if(xRot != 0) c.rotateX(xRot);
                if(yRot != 0) c.rotateY(yRot); 
                if(zRot != 0) c.rotateZ(zRot);
        }
        
        public boolean equals(Pose o) {
                return x==o.x && y==o.y && z==o.z && xRot==o.xRot && yRot==o.yRot && zRot==o.zRot && scale==o.scale;
        }
        
        @Override
        public Pose clone() {
                return new Pose(x,y,z,xRot,yRot,zRot,scale);
        }
}