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 Description

static Location origin

Constructor Summary

Constructors
Constructor Description

Location(LengthUnit units)

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

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	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)`
`Location`	`getLocalLocationRelativeTo(Location baseLocation)`	Treats this as a global location in the same reference frame as baseLocation and returns the local location of this relative to the baseLocation
`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)`	Treats this as local location relative to baseLocation and returns the global location of this in the same reference frame as 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)
```
    Treats this as local location relative to baseLocation and returns the global location of this in the same reference frame as baseLocation
    
    Parameters:
    
    baseLocation -
    
    Returns:
  - getLocalLocationRelativeTo
```
public Location getLocalLocationRelativeTo(Location baseLocation)
```
    Treats this as a global location in the same reference frame as baseLocation and returns the local location of this relative to the baseLocation
    
    Parameters:
    
    baseLocation -
    
    Returns:
  - 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.

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

Class Location

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

origin

Constructor Detail

Location

Location

Method Detail

getX

getY

getZ

getRotation

getUnits

convertToUnits

getLinearLengthTo

getXyzLengthTo

getLinearDistanceTo

getLinearDistanceTo

getXyzDistanceTo

getXyzcDistanceTo

getLinearDistanceToLine

getLinearDistanceToLineSegment

getLengthX

getLengthY

getLengthZ

subtract

subtractWithRotation

add

addWithRotation

multiply

multiply

multiply

invert

unitVectorTo

dotProduct

derive

deriveLengths

derive

rotateXy

rotateXyCenterPoint

toString

getXyPoint

containsLocation

offsetWithRotationFrom

getLocalLocationRelativeTo

equals

hashCode

isInitialized