org.openpnp.model

Class Location

java.lang.Object

org.openpnp.model.Location

public class Location
extends java.lang.Object

A Location is a an immutable 3D point in X, Y, Z space with a rotation component. The rotation is applied about the Z axis.

Field Summary

Fields

Modifier and Type	Field and Description
static Location	origin

Constructor Summary

Constructors

Constructor and Description
Location(LengthUnit units)
Location(LengthUnit units, double x, double y, double z, double rotation)

Method Summary

Modifier and Type	Method and Description
Location	add(Location l) Returns a new Location with the given Location's X, Y, and Z components added to this Location's X, Y, and Z components.
Location	addWithRotation(Location l) Returns a new Location with the given Location's X, Y, and Z components added to this Location's X, Y, and Z components.
boolean	containsLocation(Location originLocation, Location targetLocation) Checks if targetLocation is contained in current location given the current location represents a rectangular item with the origin in originLocation.
Location	convertToUnits(LengthUnit units)
Location	derive(java.lang.Double x, java.lang.Double y, java.lang.Double z, java.lang.Double rotation) Returns a new Location with the same units as this one but with values updated to the passed in values.
Location	derive(Location location, boolean x, boolean y, boolean z, boolean rotation) Returns a new Location with the same units as this one but with values updated from a second Location.
Location	deriveLengths(Length x, Length y, Length z, java.lang.Double rotation) Returns a new Location with the same units as this one but with values updated to the passed in Lengths.
Length	dotProduct(Location l) Return the dot product of this and l.
boolean	equals(java.lang.Object obj) Performs a unit agnostic equality check.
Length	getLengthX()
Length	getLengthY()
Length	getLengthZ()
double	getLinearDistanceTo(double x, double y)
double	getLinearDistanceTo(Location location) Returns the distance between this Location and the specified Location in the units of this Location.
double	getLinearDistanceToLine(Location A, Location B) Returns the distance between this Location and the infinite line defined by the Locations a and b, in the units of this Location.
double	getLinearDistanceToLineSegment(Location A, Location B) Returns the distance between this Location and the line segment defined by the Locations a and b, in the units of this Location.
Length	getLinearLengthTo(Location location)
double	getRotation()
LengthUnit	getUnits()
double	getX()
Point	getXyPoint()
double	getXyzcDistanceTo(Location location)
double	getXyzDistanceTo(Location location)
Length	getXyzLengthTo(Location location)
double	getY()
double	getZ()
int	hashCode()
Location	invert(boolean x, boolean y, boolean z, boolean rotation) Returns a new Location with the same units as this one and with any of fields specified as true inverted from the values of this one.
boolean	isInitialized()
Location	multiply(double factor) Returns a new Location based on this Location with values multiplied by the specified factor.
Location	multiply(double x, double y, double z, double rotation) Returns a new Location based on this Location with values multiplied by the specified values.
Location	multiply(Location l) Returns a new Location with the given Location's X, Y and Z components multiplied by this Location's X, Y and Z components.
Location	offsetWithRotationFrom(Location baseLocation)
Location	rotateXy(double angle) Returns a new Location with this Location's X and Y rotated by angle.
Location	rotateXyCenterPoint(Location center, double angle)
Location	subtract(Location l) Returns a new Location with the given Location's X, Y, and Z components subtracted from this Location's X, Y, and Z components.
Location	subtractWithRotation(Location l) Same as subtract(Location) but also subtracts rotation.
java.lang.String	toString()
Location	unitVectorTo(Location l) Returns the unit vector of the vector between this and location l in units of this.

Methods inherited from class java.lang.Object

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

Field Detail

origin

public static final Location origin

Constructor Detail

Location

public Location(LengthUnit units)

Location

public Location(LengthUnit units,
                double x,
                double y,
                double z,
                double rotation)

Method Detail

getX

public double getX()

getY

public double getY()

getZ

public double getZ()

getRotation

public double getRotation()

getUnits

public LengthUnit getUnits()

convertToUnits

public Location convertToUnits(LengthUnit units)

getLinearLengthTo

public Length getLinearLengthTo(Location location)

getXyzLengthTo

public Length getXyzLengthTo(Location location)

getLinearDistanceTo

public double getLinearDistanceTo(Location location)

Returns the distance between this Location and the specified Location in the units of this Location.

Parameters:

location -

Returns:

getLinearDistanceTo

public double getLinearDistanceTo(double x,
                                  double y)

getXyzDistanceTo

public double getXyzDistanceTo(Location location)

getXyzcDistanceTo

public double getXyzcDistanceTo(Location location)

getLinearDistanceToLine

public double getLinearDistanceToLine(Location A,
                                      Location B)

Returns the distance between this Location and the infinite line defined by the Locations a and b, in the units of this Location. From http://www.ahristov.com/tutorial/geometry-games/point-line-distance.html

Returns:

getLinearDistanceToLineSegment

public double getLinearDistanceToLineSegment(Location A,
                                             Location B)

Returns the distance between this Location and the line segment defined by the Locations a and b, in the units of this Location. From Real Time Collision Detection p/130

Returns:

getLengthX

public Length getLengthX()

getLengthY

public Length getLengthY()

getLengthZ

public Length getLengthZ()

subtract

public Location subtract(Location l)

Returns a new Location with the given Location's X, Y, and Z components subtracted from this Location's X, Y, and Z components. Rotation is left unchanged.

Parameters:

l -

Returns:

subtractWithRotation

public Location subtractWithRotation(Location l)

Same as subtract(Location) but also subtracts rotation.

Parameters:

l -

Returns:

add

public Location add(Location l)

Returns a new Location with the given Location's X, Y, and Z components added to this Location's X, Y, and Z components. Rotation is left unchanged.

Parameters:

l -

Returns:

addWithRotation

public Location addWithRotation(Location l)

Returns a new Location with the given Location's X, Y, and Z components added to this Location's X, Y, and Z components. Rotation is included.

Parameters:

l -

Returns:

multiply

public Location multiply(Location l)

Returns a new Location with the given Location's X, Y and Z components multiplied by this Location's X, Y and Z components. Rotation is left unchanged.

Parameters:

l -

Returns:

multiply

public Location multiply(double x,
                         double y,
                         double z,
                         double rotation)

Returns a new Location based on this Location with values multiplied by the specified values. Units are the same as this Location.

Parameters:

x -

y -

z -

rotation -

Returns:

multiply

public Location multiply(double factor)

Returns a new Location based on this Location with values multiplied by the specified factor. Units are the same as this Location.

Parameters:

factor -

Returns:

invert

public Location invert(boolean x,
                       boolean y,
                       boolean z,
                       boolean rotation)

Returns a new Location with the same units as this one and with any of fields specified as true inverted from the values of this one. Specifically, if one of the x, y, z or rotation fields are specified true in the method call, that field will be multipled by -1 in the returned Location.

Parameters:

x -

y -

z -

rotation -

Returns:

unitVectorTo

public Location unitVectorTo(Location l)

Returns the unit vector of the vector between this and location l in units of this.

Parameters:

l -

Returns:

dotProduct

public Length dotProduct(Location l)

Return the dot product of this and l. Can be used to calculate the cosinus between two unit vectors.

Parameters:

l -

Returns:

derive

public Location derive(java.lang.Double x,
                       java.lang.Double y,
                       java.lang.Double z,
                       java.lang.Double rotation)

Returns a new Location with the same units as this one but with values updated to the passed in values. A caveat is that if a specified value is null, the new Location will contain the value from this object instead of the new value. This is intended as a utility method, useful for creating new Locations based on existing ones with one or more values changed.

Parameters:

x -

y -

z -

rotation -

Returns:

deriveLengths

public Location deriveLengths(Length x,
                              Length y,
                              Length z,
                              java.lang.Double rotation)

Returns a new Location with the same units as this one but with values updated to the passed in Lengths. A caveat is that if a specified value is null, the new Location will contain the value from this object instead of the new value. The Lengths will automatically be converted to this locations's units. This is intended as a utility method, useful for creating new Locations based on existing ones with one or more values changed.

Parameters:

x -

y -

z -

rotation -

Returns:

derive

public Location derive(Location location,
                       boolean x,
                       boolean y,
                       boolean z,
                       boolean rotation)

Returns a new Location with the same units as this one but with values updated from a second Location. If a specified boolean is false, the new Location will contain the value from this object instead of the second location. This is intended as a utility method, useful for creating new Locations based on two existing ones with one or more values substituted.

Parameters:

location -

x -

y -

z -

rotation -

Returns:

rotateXy

public Location rotateXy(double angle)

Returns a new Location with this Location's X and Y rotated by angle. Z and Rotation are unchanged.

Parameters:

angle -

Returns:

rotateXyCenterPoint

public Location rotateXyCenterPoint(Location center,
                                    double angle)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getXyPoint

public Point getXyPoint()

containsLocation

public boolean containsLocation(Location originLocation,
                                Location targetLocation)

Checks if targetLocation is contained in current location given the current location represents a rectangular item with the origin in originLocation.

offsetWithRotationFrom

public Location offsetWithRotationFrom(Location baseLocation)

equals

public boolean equals(java.lang.Object obj)

Performs a unit agnostic equality check. If the Object being tested is a Location in a different unit, it is first converted to the units of this Location and then each value field is compared.

Overrides:

equals in class java.lang.Object

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

isInitialized

public boolean isInitialized()

Returns:

true if at least one of the coordinates are non-zero, assuming the location is therefore initialized.