art

Class DTrackInertial

java.lang.Object

art.DTrackInertial

public class DTrackInertial
extends java.lang.Object

Hybrid (optical-inertial) body data (6DOF).

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	DTrackInertial(int id) Constructor for not tracked hybrid body.
protected	DTrackInertial(int id, int state, double error, double[] loc, double[][] rot) Constructor for tracked hybrid body.

Method Summary

Modifier and Type	Method and Description
double	getError() Returns drift error estimate.
int	getId() Returns ID number.
double[]	getLoc() Returns location.
double[][]	getRot() Returns orientation.
int	getState() Returns state of hybrid body.
boolean	isTracked() Returns if body is currently tracked.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DTrackInertial

protected DTrackInertial(int id)

Constructor for not tracked hybrid body.

Parameters:

id - ID number (starting with 0)

DTrackInertial

protected DTrackInertial(int id,
                         int state,
                         double error,
                         double[] loc,
                         double[][] rot)

Constructor for tracked hybrid body.

Parameters:

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)

Method Detail

getId

public int getId()

Returns ID number.

Returns:

ID number (starting with 0)

isTracked

public boolean isTracked()

Returns if body is currently tracked.

Returns:

Body is tracked

getState

public int getState()

Returns state of hybrid body.

Returns:

State of hybrid body (0: not tracked, 1: inertial tracking, 2: optical tracking, 3: inertial and optical tracking)

getError

public double getError()

Returns drift error estimate.

Returns:

Drift error estimate (only during inertial tracking, in [deg])

getLoc

public double[] getLoc()

Returns location.

Returns:

Location (in [mm])

getRot

public double[][] getRot()

Returns orientation.

Returns:

Rotation matrix (3x3-dimensional)