org.openbase.bco.registry.unit.lib.provider

Interface UnitTransformationProviderRegistry<D>

All Superinterfaces:

org.openbase.jul.pattern.provider.DataProvider<D>, RootLocationConfigProvider, UnitConfigCollectionProvider

All Known Subinterfaces:

UnitRegistry

public interface UnitTransformationProviderRegistry<D>
extends RootLocationConfigProvider, org.openbase.jul.pattern.provider.DataProvider<D>, UnitConfigCollectionProvider

Method Summary

Modifier and Type	Method and Description
default rst.domotic.unit.UnitConfigType.UnitConfig	getRootLocationConfig()
default javax.media.j3d.Transform3D	getRootToUnitTransform3D(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the Transform3D of the transformation from root to unit coordinate system.
default rct.Transform	getRootToUnitTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Method returns the transformation from the root location to the given unit.
default Future<rct.Transform>	getRootToUnitTransformationFuture(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Method returns the transformation which leads from the root location to the given unit.
default javax.vecmath.Point3d	getUnitBoundingBoxCenterGlobalPoint3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the center coordinates of the unit's BoundingBox in the coordinate system of the root location as a Point3d object.
default javax.vecmath.Point3d	getUnitBoundingBoxCenterPoint3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the center coordinates of the unit's BoundingBox in the unit coordinate system as a Point3d object.
default rst.geometry.TranslationType.Translation	getUnitPositionGlobal(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the position of the unit relative to the root location as a Translation object.
default javax.vecmath.Point3d	getUnitPositionGlobalPoint3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the position of the unit relative to the root location as a Point3d object.
default rst.math.Vec3DDoubleType.Vec3DDouble	getUnitPositionGlobalVec3DDouble(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the position of the unit relative to the root location as a Point3d object.
default javax.vecmath.Vector3d	getUnitPositionGlobalVector3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the position of the unit relative to the root location as a Vector3d object.
default rst.geometry.RotationType.Rotation	getUnitRotationGlobal(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the rotation of the unit relative to the root location as a Rotation object.
default javax.vecmath.Quat4d	getUnitRotationGlobalQuat4d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the rotation of the unit relative to the root location as a Quat4d object.
default rst.spatial.ShapeType.Shape	getUnitShape(String unitId) Method returns the unit shape of the given unit referred by the id.
rst.spatial.ShapeType.Shape	getUnitShape(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Method returns the unit shape of the given unit configuration.
default javax.media.j3d.Transform3D	getUnitToRootTransform3D(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig) Gets the inverse Transform3D to getTransform3D().
default rct.Transform	getUnitToRootTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Method returns the transformation from the root location to the given unit.
default Future<rct.Transform>	getUnitToRootTransformationFuture(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Method returns the transformation which leads from the given unit to the root location.
default Future<rct.Transform>	getUnitTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigSource, rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Deprecated. please use getUnitTransformationFuture instead because this method will be return the Transform type directly in near future.
default Future<rct.Transform>	getUnitTransformationFuture(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigSource, rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Method returns the transformation between the given unit A and the given unit B.
default rct.Transform	lookupUnitTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigSource, rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget) Deprecated. do not use method because API changes will be applied in near future and this method will be renamed into getUnitTransformation within the next release.

Methods inherited from interface org.openbase.jul.pattern.provider.DataProvider

addDataObserver, getData, getDataClass, getDataFuture, isDataAvailable, removeDataObserver, waitForData, waitForData

Methods inherited from interface org.openbase.bco.registry.lib.provider.UnitConfigCollectionProvider

containsUnitConfigById, getUnitConfigById, getUnitConfigs, getUnitConfigs

Method Detail

getRootLocationConfig

default rst.domotic.unit.UnitConfigType.UnitConfig getRootLocationConfig()
                                                                  throws org.openbase.jul.exception.CouldNotPerformException,
                                                                         org.openbase.jul.exception.NotAvailableException

Specified by:

getRootLocationConfig in interface RootLocationConfigProvider

Throws:

org.openbase.jul.exception.CouldNotPerformException

org.openbase.jul.exception.NotAvailableException

getRootToUnitTransformationFuture

default Future<rct.Transform> getRootToUnitTransformationFuture(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)

Method returns the transformation which leads from the root location to the given unit.

Parameters:

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

getUnitToRootTransformationFuture

default Future<rct.Transform> getUnitToRootTransformationFuture(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)

Method returns the transformation which leads from the given unit to the root location.

Parameters:

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

getUnitTransformation

@Deprecated
default Future<rct.Transform> getUnitTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigSource,
                                                                rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)

Deprecated. please use getUnitTransformationFuture instead because this method will be return the Transform type directly in near future.

Method returns the transformation between the given unit A and the given unit B.

Parameters:

unitConfigSource - the unit used as transformation base.

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

getUnitTransformationFuture

default Future<rct.Transform> getUnitTransformationFuture(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigSource,
                                                          rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)

Method returns the transformation between the given unit A and the given unit B.

Parameters:

unitConfigSource - the unit used as transformation base.

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

getRootToUnitTransformation

default rct.Transform getRootToUnitTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)
                                           throws org.openbase.jul.exception.NotAvailableException

Method returns the transformation from the root location to the given unit.

Parameters:

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

Throws:

org.openbase.jul.exception.NotAvailableException

getUnitToRootTransformation

default rct.Transform getUnitToRootTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)
                                           throws org.openbase.jul.exception.NotAvailableException

Method returns the transformation from the root location to the given unit.

Parameters:

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

Throws:

org.openbase.jul.exception.NotAvailableException

lookupUnitTransformation

@Deprecated
default rct.Transform lookupUnitTransformation(rst.domotic.unit.UnitConfigType.UnitConfig unitConfigSource,
                                                           rst.domotic.unit.UnitConfigType.UnitConfig unitConfigTarget)
                                                    throws org.openbase.jul.exception.NotAvailableException

Deprecated. do not use method because API changes will be applied in near future and this method will be renamed into getUnitTransformation within the next release.

Method returns the transformation between the given unit A and the given unit B.

Parameters:

unitConfigSource - the unit used as transformation base.

unitConfigTarget - the unit where the transformation leads to.

Returns:

a transformation future

Throws:

org.openbase.jul.exception.NotAvailableException

getRootToUnitTransform3D

default javax.media.j3d.Transform3D getRootToUnitTransform3D(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                      throws org.openbase.jul.exception.NotAvailableException

Gets the Transform3D of the transformation from root to unit coordinate system.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

transform relative to root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitToRootTransform3D

default javax.media.j3d.Transform3D getUnitToRootTransform3D(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                      throws org.openbase.jul.exception.NotAvailableException

Gets the inverse Transform3D to getTransform3D(). This is basically rotation and translation of the object in the root coordinate system and thereby the inverse transformation to the one returned by getTransform3D().

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

transform relative to root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitPositionGlobalPoint3d

default javax.vecmath.Point3d getUnitPositionGlobalPoint3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                    throws org.openbase.jul.exception.NotAvailableException

Gets the position of the unit relative to the root location as a Point3d object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

position relative to the root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitPositionGlobalVec3DDouble

default rst.math.Vec3DDoubleType.Vec3DDouble getUnitPositionGlobalVec3DDouble(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                                       throws org.openbase.jul.exception.NotAvailableException

Gets the position of the unit relative to the root location as a Point3d object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

position relative to the root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitPositionGlobalVector3d

default javax.vecmath.Vector3d getUnitPositionGlobalVector3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                      throws org.openbase.jul.exception.NotAvailableException

Gets the position of the unit relative to the root location as a Vector3d object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

position relative to the root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitPositionGlobal

default rst.geometry.TranslationType.Translation getUnitPositionGlobal(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                                throws org.openbase.jul.exception.NotAvailableException

Gets the position of the unit relative to the root location as a Translation object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

position relative to the root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitRotationGlobalQuat4d

default javax.vecmath.Quat4d getUnitRotationGlobalQuat4d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                  throws org.openbase.jul.exception.NotAvailableException

Gets the rotation of the unit relative to the root location as a Quat4d object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

rotation relative to the root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitRotationGlobal

default rst.geometry.RotationType.Rotation getUnitRotationGlobal(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                          throws org.openbase.jul.exception.NotAvailableException

Gets the rotation of the unit relative to the root location as a Rotation object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

rotation relative to the root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the transformation is not available.

getUnitBoundingBoxCenterPoint3d

default javax.vecmath.Point3d getUnitBoundingBoxCenterPoint3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                       throws org.openbase.jul.exception.NotAvailableException

Gets the center coordinates of the unit's BoundingBox in the unit coordinate system as a Point3d object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

center coordinates of the unit's BoundingBox relative to unit

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the center can not be calculate.

getUnitBoundingBoxCenterGlobalPoint3d

default javax.vecmath.Point3d getUnitBoundingBoxCenterGlobalPoint3d(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                                             throws org.openbase.jul.exception.NotAvailableException

Gets the center coordinates of the unit's BoundingBox in the coordinate system of the root location as a Point3d object.

Parameters:

unitConfig - the unit config to refer the unit.

Returns:

center coordinates of the unit's BoundingBox relative to root location

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the center can not be calculate.

getUnitShape

default rst.spatial.ShapeType.Shape getUnitShape(String unitId)
                                          throws org.openbase.jul.exception.NotAvailableException

Method returns the unit shape of the given unit referred by the id.

If this unit configuration does not provide any shape information the shape of the unit host will be returned. In case the unit host even does not provide any shape information and the unit is a device than the shape of the device class will be used.

Parameters:

unitId - the id to resolve the unit shape.

Returns:

the shape representing the unit.

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the unit shape is not available or the resolution has been failed.

getUnitShape

rst.spatial.ShapeType.Shape getUnitShape(rst.domotic.unit.UnitConfigType.UnitConfig unitConfig)
                                  throws org.openbase.jul.exception.NotAvailableException

Method returns the unit shape of the given unit configuration.

If this unit configuration does not provide any shape information the shape of the unit host will be returned. In case the unit host even does not provide any shape information and the unit is a device than the shape of the device class will be used.

Parameters:

unitConfig - the unit configuration to resolve the unit shape.

Returns:

the shape representing the unit.

Throws:

org.openbase.jul.exception.NotAvailableException - is thrown if the unit shape is not available or the resolution has been failed.