edu::tum::cs::ias::knowrob::owl::ObjectInstance Class Reference

Inheritance diagram for edu::tum::cs::ias::knowrob::owl::ObjectInstance:

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)
static ObjectInstance	getObjectInstance (String iri, String label)
Protected Member Functions
	ObjectInstance (OWLIndividual ind)
	ObjectInstance (String iri, String label)
Protected Attributes
Vector3d	dimensions
Vector< ObjectInstance >	physicalParts
Matrix4d	pose_matrix

Detailed Description

Definition at line 13 of file ObjectInstance.java.

Constructor & Destructor Documentation

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.

Parameters:

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

Parameters:

ind

OWLIndividual to be copied into this ObjectInstance

Definition at line 56 of file ObjectInstance.java.

Member Function Documentation

void edu::tum::cs::ias::knowrob::owl::ObjectInstance::addPhysicalPart ( ObjectInstance part ) [inline]

Parameters:

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

Returns:: Vector with the object dimensions

Definition at line 155 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.

Parameters:

iri

Identifier of this thing.

Returns:: Instance of an ObjectInstance with the specified IRI

Definition at line 95 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.

Parameters:

	iri	Identifier of this thing.
	label	Optional natural-language label.

Returns:: Instance of an ObjectInstance with the specified IRI

Definition at line 74 of file ObjectInstance.java.

Vector<ObjectInstance> edu::tum::cs::ias::knowrob::owl::ObjectInstance::getPhysicalParts ( ) [inline]

Returns:

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]

Get the 4x4 pose matrix

Returns:: Pose matrix

Definition at line 175 of file ObjectInstance.java.

Quat4d edu::tum::cs::ias::knowrob::owl::ObjectInstance::getPoseQuaternion ( ) [inline]

Interface for getting the orientation as quaternion.

Returns:: Object 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)

Returns:: Position vector

Definition at line 195 of file ObjectInstance.java.

boolean edu::tum::cs::ias::knowrob::owl::ObjectInstance::hasPhysicalPart ( ObjectInstance part ) [inline]

Parameters:

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]

Parameters:

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

Parameters:

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]

Parameters:

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

Parameters:

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.

Parameters:

	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

Parameters:

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.

Member Data Documentation

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.

The documentation for this class was generated from the following file:

ObjectInstance.java

edu::tum::cs::ias::knowrob::owl::ObjectInstance Class Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation