public class DTrackInertial
extends java.lang.Object
Modifier | Constructor and Description |
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protected |
DTrackInertial(int id)
Constructor for not tracked hybrid body.
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protected |
DTrackInertial(int id,
int state,
double error,
double[] loc,
double[][] rot)
Constructor for tracked hybrid body.
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Modifier and Type | Method and Description |
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double |
getError()
Returns drift error estimate.
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int |
getId()
Returns ID number.
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double[] |
getLoc()
Returns location.
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double[][] |
getRot()
Returns orientation.
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int |
getState()
Returns state of hybrid body.
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boolean |
isTracked()
Returns if body is currently tracked.
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protected DTrackInertial(int id)
id
- ID number (starting with 0)protected DTrackInertial(int id, int state, double error, double[] loc, double[][] rot)
id
- ID number (starting with 0)state
- State of hybrid body (0, 1, 2 or 3)error
- Drift error estimate (only during inertial tracking, in [deg])loc
- Location (in [mm])rot
- Rotation matrix (3x3-dimensional)public int getId()
public boolean isTracked()
public int getState()
public double getError()
public double[] getLoc()
public double[][] getRot()