82 lines
2.2 KiB
Java
82 lines
2.2 KiB
Java
/**
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*
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* BreezySLAM: Simple, efficient SLAM in Java
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*
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* Position.java - Java code for Position class
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*
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* Copyright (C) 2014 Simon D. Levy
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*
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* This code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* This code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this code. If not, see <http://www.gnu.org/licenses/>.
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*/
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package edu.wlu.cs.levy.breezyslam.components;
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/**
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* A class representing the position of a robot.
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*/
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public class Position
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{
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/**
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* Distance of robot from left edge of map, in millimeters.
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*/
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public double x_mm;
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/**
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* Distance of robot from top edge of map, in millimeters.
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*/
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public double y_mm;
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/**
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* Clockwise rotation of robot with respect to three o'clock (east), in degrees.
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*/
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public double theta_degrees;
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/**
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* Constructs a new position.
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* @param x_mm X coordinate in millimeters
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* @param y_mm Y coordinate in millimeters
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* @param theta_degrees rotation angle in degrees
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*/
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public Position(double x_mm, double y_mm, double theta_degrees)
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{
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this.x_mm = x_mm;
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this.y_mm = y_mm;
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this.theta_degrees = theta_degrees;
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}
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/**
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* Constructs a new Position object by copying another.
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* @param the other Positon object
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*/
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public Position(Position position)
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{
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this.x_mm = position.x_mm;
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this.y_mm = position.y_mm;
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this.theta_degrees = position.theta_degrees;
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}
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/**
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* Returns a string representation of this Position object.
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*/
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public String toString()
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{
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String format = "<x = %7.0f mm y = %7.0f mm theta = %+3.3f degrees>";
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return String.format(format, this.x_mm, this.y_mm, this.theta_degrees);
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}
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}
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