Package org.opentcs.data.model
Class Point
java.lang.Object
- All Implemented Interfaces:
java.io.Serializable
public class Point extends TCSResource<Point> implements java.io.Serializable
A point in the driving course at which a
Vehicle
may be located.- See Also:
Path
, Serialized Form
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Nested Class Summary
Nested Classes Modifier and Type Class Description static class
Point.Layout
Contains information regarding the grahical representation of a point.static class
Point.Type
Describes the types of positions in a driving course. -
Field Summary
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Constructor Summary
Constructors Constructor Description Point(java.lang.String name)
Creates a new point with the given name. -
Method Summary
Modifier and Type Method Description java.util.Set<Location.Link>
getAttachedLinks()
Returns a set of links attached to this point.java.util.Set<TCSObjectReference<Path>>
getIncomingPaths()
Returns a set of references to paths ending in this point.Point.Layout
getLayout()
Returns the information regarding the grahical representation of this point.TCSObjectReference<Vehicle>
getOccupyingVehicle()
Returns a reference to the vehicle occupying this point.java.util.Set<TCSObjectReference<Path>>
getOutgoingPaths()
Returns a set of references to paths originating in this point.Pose
getPose()
Returns the pose of the vehicle at this point.Triple
getPosition()
Deprecated.UsegetPose()
instead.Point.Type
getType()
Returns this point's type.double
getVehicleOrientationAngle()
Deprecated.UsegetPose()
instead.boolean
isHaltingPosition()
Checks whether halting on this point is allowed.boolean
isParkingPosition()
Checks whether parking a vehicle on this point is allowed.Point
withAttachedLinks(java.util.Set<Location.Link> attachedLinks)
Creates a copy of this object, with the given attached links.TCSObject<Point>
withHistory(ObjectHistory history)
Creates a copy of this object, with the given history.TCSObject<Point>
withHistoryEntry(ObjectHistory.Entry entry)
Creates a copy of this object, with the given history entry integrated.Point
withIncomingPaths(java.util.Set<TCSObjectReference<Path>> incomingPaths)
Creates a copy of this object, with the given incoming paths.Point
withLayout(Point.Layout layout)
Creates a copy of this object, with the given layout.Point
withOccupyingVehicle(TCSObjectReference<Vehicle> occupyingVehicle)
Creates a copy of this object, with the given occupying vehicle.Point
withOutgoingPaths(java.util.Set<TCSObjectReference<Path>> outgoingPaths)
Creates a copy of this object, with the given outgoing paths.Point
withPose(Pose pose)
Creates a copy of this object, with the given pose.Point
withPosition(Triple position)
Deprecated.UsewithPose(org.opentcs.data.model.Pose)
instead.Point
withProperties(java.util.Map<java.lang.String,java.lang.String> properties)
Creates a copy of this object, with the given properties.Point
withProperty(java.lang.String key, java.lang.String value)
Creates a copy of this object, with the given property integrated.Point
withType(Point.Type type)
Creates a copy of this object, with the given type.Point
withVehicleOrientationAngle(double vehicleOrientationAngle)
Deprecated.UsewithPose(org.opentcs.data.model.Pose)
instead.Methods inherited from class org.opentcs.data.TCSObject
equals, getHistory, getName, getProperties, getProperty, hashCode, listWithoutNullValues, mapWithoutNullValues, propertiesWith, setWithoutNullValues, toString
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Constructor Details
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Point
public Point(java.lang.String name)Creates a new point with the given name.- Parameters:
name
- This point's name.
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Method Details
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withProperty
Description copied from class:TCSObject
Creates a copy of this object, with the given property integrated.- Specified by:
withProperty
in classTCSObject<Point>
- Parameters:
key
- The key of the property to be changed.value
- The new value of the property, ornull
, if the property is to be removed.- Returns:
- A copy of this object, with the given property integrated.
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withProperties
Description copied from class:TCSObject
Creates a copy of this object, with the given properties.- Specified by:
withProperties
in classTCSObject<Point>
- Parameters:
properties
- The properties.- Returns:
- A copy of this object, with the given properties.
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withHistoryEntry
Description copied from class:TCSObject
Creates a copy of this object, with the given history entry integrated.- Specified by:
withHistoryEntry
in classTCSObject<Point>
- Parameters:
entry
- The history entry to be integrated.- Returns:
- A copy of this object, with the given history entry integrated.
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withHistory
Description copied from class:TCSObject
Creates a copy of this object, with the given history.- Specified by:
withHistory
in classTCSObject<Point>
- Parameters:
history
- The history.- Returns:
- A copy of this object, with the given history.
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getPose
Returns the pose of the vehicle at this point.- Returns:
- The pose of the vehicle at this point.
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withPose
Creates a copy of this object, with the given pose.- Parameters:
pose
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getPosition
Deprecated.UsegetPose()
instead.Returns the physical coordinates of this point in mm.- Returns:
- The physical coordinates of this point in mm.
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withPosition
@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public Point withPosition(Triple position)Deprecated.UsewithPose(org.opentcs.data.model.Pose)
instead.Creates a copy of this object, with the given position.- Parameters:
position
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getVehicleOrientationAngle
@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public double getVehicleOrientationAngle()Deprecated.UsegetPose()
instead.Returns a vehicle's orientation angle at this position. (-360..360, orDouble.NaN
, if an orientation angle is not specified for this point.)- Returns:
- The vehicle's orientation angle when it's at this position.
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withVehicleOrientationAngle
@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public Point withVehicleOrientationAngle(double vehicleOrientationAngle)Deprecated.UsewithPose(org.opentcs.data.model.Pose)
instead.Creates a copy of this object, with the given vehicle orientation angle.- Parameters:
vehicleOrientationAngle
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getType
Returns this point's type.- Returns:
- This point's type.
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withType
Creates a copy of this object, with the given type.- Parameters:
type
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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isParkingPosition
public boolean isParkingPosition()Checks whether parking a vehicle on this point is allowed.This method is a convenience method; its return value is equal to
getType().equals(Point.Type.PARK_POSITION)
.- Returns:
true
if, and only if, parking is allowed on this point.
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isHaltingPosition
public boolean isHaltingPosition()Checks whether halting on this point is allowed.This method is a convenience method; its return value is equal to
getType().equals(Point.Type.PARK_POSITION) || getType().equals(Point.Type.HALT_POSITION)
.- Returns:
true
if, and only if, halting is allowed on this point.
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getOccupyingVehicle
Returns a reference to the vehicle occupying this point.- Returns:
- A reference to the vehicle occupying this point, or
null
, if this point isn't currently occupied by any vehicle.
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withOccupyingVehicle
Creates a copy of this object, with the given occupying vehicle.- Parameters:
occupyingVehicle
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getIncomingPaths
Returns a set of references to paths ending in this point.- Returns:
- A set of references to paths ending in this point.
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withIncomingPaths
Creates a copy of this object, with the given incoming paths.- Parameters:
incomingPaths
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getOutgoingPaths
Returns a set of references to paths originating in this point.- Returns:
- A set of references to paths originating in this point.
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withOutgoingPaths
Creates a copy of this object, with the given outgoing paths.- Parameters:
outgoingPaths
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getAttachedLinks
Returns a set of links attached to this point.- Returns:
- A set of links attached to this point.
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withAttachedLinks
Creates a copy of this object, with the given attached links.- Parameters:
attachedLinks
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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getLayout
Returns the information regarding the grahical representation of this point.- Returns:
- The information regarding the grahical representation of this point.
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withLayout
Creates a copy of this object, with the given layout.- Parameters:
layout
- The value to be set in the copy.- Returns:
- A copy of this object, differing in the given value.
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