public class DTrackBody
extends java.lang.Object
Modifier | Constructor and Description |
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protected |
DTrackBody(int id)
Constructor for not tracked standard body.
|
protected |
DTrackBody(int id,
double quality,
double[] loc,
double[][] rot)
Constructor for tracked standard body (only pose).
|
Modifier and Type | Method and Description |
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double[][] |
getCov()
Returns covariance matrix, if available.
|
double[] |
getCovref()
Returns reference point of covariance, if available.
|
int |
getId()
Returns ID number.
|
double[] |
getLoc()
Returns location.
|
double |
getQuality()
Returns quality.
|
double[][] |
getRot()
Returns orientation.
|
boolean |
isTracked()
Returns if body is currently tracked.
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protected void |
setCov(double[][] cov,
double[] covref)
Set covariance data.
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protected void |
setNotTracked()
Set to 'not tracked'.
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protected DTrackBody(int id)
id
- ID number (starting with 0)protected DTrackBody(int id, double quality, double[] loc, double[][] rot)
id
- ID number (starting with 0)quality
- Quality (0 ≤ qu ≤ 1, no tracking if -1)loc
- Location (in [mm])rot
- Rotation matrix (3x3-dimensional)public int getId()
public boolean isTracked()
public double getQuality()
public double[] getLoc()
public double[][] getRot()
public double[][] getCov()
public double[] getCovref()
protected void setNotTracked()
protected void setCov(double[][] cov, double[] covref)
cov
- 6x6-dimensional covariance matrix for the 6DOF pose (with 3DOF location in [mm],
3DOF euler angles in [rad])covref
- Reference point of covariance (in [mm])