edu.wpi.rail.jrosbridge.messages.geometry

Class Pose

java.lang.Object

edu.wpi.rail.jrosbridge.JsonWrapper

edu.wpi.rail.jrosbridge.messages.Message

edu.wpi.rail.jrosbridge.messages.geometry.Pose

public class Pose
extends Message

The geometry_msgs/Pose message. A representation of pose in free space, composed of position and orientation.

Version:

April 1, 2014

Author:

Russell Toris -- rctoris@wpi.edu

Field Summary

Fields

Modifier and Type	Field and Description
static String	FIELD_ORIENTATION The name of the orientation field for the message.
static String	FIELD_POSITION The name of the position field for the message.
static String	TYPE The message type.

Fields inherited from class edu.wpi.rail.jrosbridge.messages.Message

EMPTY_MESSAGE

Fields inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

EMPTY_JSON

Constructor Summary

Constructors

Constructor and Description
Pose() Create a new Pose with all 0s.
Pose(Point position, Quaternion orientation) Create a new Pose with the given position and orientation values.

Method Summary

Methods

Modifier and Type	Method and Description
Pose	clone() Create a clone of this Pose.
static Pose	fromJsonObject(javax.json.JsonObject jsonObject) Create a new Pose based on the given JSON object.
static Pose	fromJsonString(String jsonString) Create a new Pose based on the given JSON string.
static Pose	fromMessage(Message m) Create a new Pose based on the given Message.
Quaternion	getOrientation() Get the orientation value of this pose.
Point	getPosition() Get the position value of this pose.

Methods inherited from class edu.wpi.rail.jrosbridge.messages.Message

getMessageType, setMessageType

Methods inherited from class edu.wpi.rail.jrosbridge.JsonWrapper

equals, hashCode, toJsonObject, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

FIELD_POSITION

public static final String FIELD_POSITION

The name of the position field for the message.

See Also:

Constant Field Values

FIELD_ORIENTATION

public static final String FIELD_ORIENTATION

The name of the orientation field for the message.

See Also:

Constant Field Values

TYPE

public static final String TYPE

The message type.

See Also:

Constant Field Values

Constructor Detail

Pose

public Pose()

Create a new Pose with all 0s.

Pose

public Pose(Point position,
    Quaternion orientation)

Create a new Pose with the given position and orientation values.

Parameters:

position - The position value of the pose.

orientation - The orientation value of the pose.

Method Detail

getPosition

public Point getPosition()

Get the position value of this pose.

Returns:

The position value of this pose.

getOrientation

public Quaternion getOrientation()

Get the orientation value of this pose.

Returns:

The orientation value of this pose.

clone

public Pose clone()

Create a clone of this Pose.

Overrides:

clone in class Message

fromJsonString

public static Pose fromJsonString(String jsonString)

Create a new Pose based on the given JSON string. Any missing values will be set to their defaults.

Parameters:

jsonString - The JSON string to parse.

Returns:

A Pose message based on the given JSON string.

fromMessage

public static Pose fromMessage(Message m)

Create a new Pose based on the given Message. Any missing values will be set to their defaults.

Parameters:

m - The Message to parse.

Returns:

A Pose message based on the given Message.

fromJsonObject

public static Pose fromJsonObject(javax.json.JsonObject jsonObject)

Create a new Pose based on the given JSON object. Any missing values will be set to their defaults.

Parameters:

jsonObject - The JSON object to parse.

Returns:

A Pose message based on the given JSON object.