Package org.vast.ogc.geopose

Class PoseImpl

java.lang.Object
org.vast.ogc.geopose.PoseImpl
All Implemented Interfaces:
Serializable, Pose
public class PoseImpl extends Object implements Pose
See Also:

  • Field Details

    • refFrame

      protected String refFrame

    • ltpRefFrame

      protected String ltpRefFrame

    • localFrame

      protected String localFrame

    • position

      protected double[] position

    • orientation

      protected double[] orientation

  • Constructor Details

    • PoseImpl

      public PoseImpl()

  • Method Details

    • getReferenceFrame

      public String getReferenceFrame()
      Description copied from interface: Pose
      Gets the URI of the reference frame with respect to which the pose is provided
      Specified by:
      getReferenceFrame in interface Pose
      Returns:
      the pose reference frame

    • setReferenceFrame

      public void setReferenceFrame(String uri)
      Description copied from interface: Pose
      Sets the pose reference frame
      Specified by:
      setReferenceFrame in interface Pose

    • getLTPReferenceFrame

      public String getLTPReferenceFrame()
      Description copied from interface: Pose
      Gets the URI of the local tangent plane (LTP) reference frame (topocentric frame). This is only needed if the main reference frame is a geographic or other planetary CRS and orientation is provided relative to the LTP frame.
      Specified by:
      getLTPReferenceFrame in interface Pose
      Returns:
      the LTP reference frame

    • setLTPReferenceFrame

      public void setLTPReferenceFrame(String uri)
      Description copied from interface: Pose
      Sets the LTP reference frame
      Specified by:
      setLTPReferenceFrame in interface Pose

    • getLocalFrame

      public String getLocalFrame()
      Description copied from interface: Pose
      Gets the URI of the local frame whose pose is expressed by this object
      Specified by:
      getLocalFrame in interface Pose
      Returns:
      the pose local frame

    • setLocalFrame

      public void setLocalFrame(String uri)
      Description copied from interface: Pose
      Sets the local frame whose pose is expressed by this object
      Specified by:
      setLocalFrame in interface Pose

    • getPosition

      public double[] getPosition()
      Description copied from interface: Pose
      Gets the position coordinates (2D or 3D)
      Specified by:
      getPosition in interface Pose
      Returns:
      The position coordinates in the order specified by the reference frame

    • setPosition

      public void setPosition(double[] coords)
      Description copied from interface: Pose
      Sets the position coordinates (2D or 3D)
      Specified by:
      setPosition in interface Pose
      Parameters:
      coords - position coordinates in the order specified by the reference frame

    • getOrientation

      public double[] getOrientation()
      Description copied from interface: Pose
      Gets the orientation coordinates
    • If 3 coordinates are provided, yaw/pitch/roll Euler angles in degrees about the local (rotated) axes z, y, and x, applied in that order, are assumed.
    • If 4 coordinates are provided, unit quaternion coordinates in the order x,y,z,w are assumed.
      • Specified by:
      getOrientation in interface Pose

    • toLocation

      public Point toLocation()
      Description copied from interface: Pose
      Convert pose to a geographic location when possible
      Specified by:
      toLocation in interface Pose
      Returns:
      A point object with coordinates expressed in a geographic coordinate system

    • setOrientation

      public void setOrientation(double[] coords)
      Description copied from interface: Pose
      Sets the orientation coordinates (3 components for Euler angles, 4 for quaternions)
      Specified by:
      setOrientation in interface Pose
      See Also: