javax.robotics.xml
Class XmlSpline

java.lang.Object
  javax.robotics.xml.XmlSpline

public class XmlSpline
extends java.lang.Object

XML handler class for spline path configuration file.

Since:

1.1.0

Version:

30/10/2005

Author:

Carmine Lia

Constructor Summary

XmlSpline(java.io.File splineXml)
Constructor of the xml handler.

XmlSpline(java.io.InputStream splineXml)
Constructor of the xml handler.

XmlSpline(java.lang.String splineXml)
Constructor of the xml handler.

Method Summary

java.lang.String	getDescription() Gets the tag description of the file.
java.lang.String	getName() Gets the tag name of the file.
int	getNumberOfPoints() Gets the number of points of path
Matrix	getOrientationPathAsMatrix() Gets orientation path data.
Matrix	getPositionPathAsMatrix() Gets position path data.
pathML.PathConfigurationType	getXmlHandler() Gets the handle of xml configuration file.
boolean	hasOrientation() Gets tag orientation of the file.

Methods inherited from class java.lang.Object

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

Constructor Detail

XmlSpline

public XmlSpline(java.lang.String splineXml)
          throws org.apache.xmlbeans.XmlException,
                 java.io.IOException

Constructor of the xml handler.

Parameters:

splineXml - the xml configuration file.

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

XmlSpline

public XmlSpline(java.io.File splineXml)
          throws org.apache.xmlbeans.XmlException,
                 java.io.IOException

Constructor of the xml handler.

Parameters:

splineXml - the xml configuration file.

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

XmlSpline

public XmlSpline(java.io.InputStream splineXml)
          throws org.apache.xmlbeans.XmlException,
                 java.io.IOException

Constructor of the xml handler.

Parameters:

splineXml - the xml configuration file.

Throws:

org.apache.xmlbeans.XmlException

java.io.IOException

Method Detail

getDescription

public final java.lang.String getDescription()

Gets the tag description of the file.

Returns:

the tag description value.

getName

public final java.lang.String getName()

Gets the tag name of the file.

Returns:

the tag name value.

getOrientationPathAsMatrix

public final Matrix getOrientationPathAsMatrix()

Gets orientation path data. The i-th column of matrix contains a couple [t_i;Quaternion(t_i)].

Returns:

the 5-by-nPath matrix of orientation data.

getPositionPathAsMatrix

public final Matrix getPositionPathAsMatrix()

Gets position path data. The i-th column of matrix contains a couple [t_i;P(t_i)].

Returns:

the spaceDim+1-by-nPath matrix of position data.

getNumberOfPoints

public final int getNumberOfPoints()

Gets the number of points of path

Returns:

the number of points.

hasOrientation

public final boolean hasOrientation()

Gets tag orientation of the file.

Returns:

the tag orientation value.

getXmlHandler

public final pathML.PathConfigurationType getXmlHandler()

Gets the handle of xml configuration file.

Returns:

the xml handler.