Package org.opentcs.data.model

Klasse Point

java.lang.Object
org.opentcs.data.TCSObject<Point>
org.opentcs.data.model.TCSResource<Point>
org.opentcs.data.model.Point
Alle implementierten Schnittstellen:
Serializable
public class Point extends TCSResource<Point> implements Serializable
A point in the driving course at which a Vehicle may be located.
Siehe auch:

  • Konstruktordetails

    • Point

      public Point(String name)
      Creates a new point with the given name.
      Parameter:
      name - This point's name.

  • Methodendetails

    • withProperty

      public Point withProperty(String key, String value)
      Beschreibung aus Klasse kopiert: TCSObject
      Creates a copy of this object, with the given property integrated.
      Angegeben von:
      withProperty in Klasse TCSObject<Point>
      Parameter:
      key - The key of the property to be changed.
      value - The new value of the property, or null, if the property is to be removed.
      Gibt zurück:
      A copy of this object, with the given property integrated.

    • withProperties

      public Point withProperties(Map<String,String> properties)
      Beschreibung aus Klasse kopiert: TCSObject
      Creates a copy of this object, with the given properties.
      Angegeben von:
      withProperties in Klasse TCSObject<Point>
      Parameter:
      properties - The properties.
      Gibt zurück:
      A copy of this object, with the given properties.

    • withHistoryEntry

      public TCSObject<Point> withHistoryEntry(ObjectHistory.Entry entry)
      Beschreibung aus Klasse kopiert: TCSObject
      Creates a copy of this object, with the given history entry integrated.
      Angegeben von:
      withHistoryEntry in Klasse TCSObject<Point>
      Parameter:
      entry - The history entry to be integrated.
      Gibt zurück:
      A copy of this object, with the given history entry integrated.

    • withHistory

      public TCSObject<Point> withHistory(ObjectHistory history)
      Beschreibung aus Klasse kopiert: TCSObject
      Creates a copy of this object, with the given history.
      Angegeben von:
      withHistory in Klasse TCSObject<Point>
      Parameter:
      history - The history.
      Gibt zurück:
      A copy of this object, with the given history.

    • getPose

      public Pose getPose()
      Returns the pose of the vehicle at this point.
      Gibt zurück:
      The pose of the vehicle at this point.

    • withPose

      public Point withPose(Pose pose)
      Creates a copy of this object, with the given pose.
      Parameter:
      pose - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getType

      public Point.Type getType()
      Returns this point's type.
      Gibt zurück:
      This point's type.

    • withType

      public Point withType(Point.Type type)
      Creates a copy of this object, with the given type.
      Parameter:
      type - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • isParkingPosition

      public boolean isParkingPosition()
      Checks whether parking a vehicle on this point is allowed.

      This method is a convenience method; its return value is equal to getType().equals(Point.Type.PARK_POSITION).

      Gibt zurück:
      true if, and only if, parking is allowed on this point.

    • isHaltingPosition

      @Deprecated @ScheduledApiChange(when="7.0", details="Will be removed.") public boolean isHaltingPosition()
      Veraltet.
      Will be removed without replacement. With openTCS 6.0, the point type REPORT_POSITION was removed, which makes this method redundant, as all remaining point types allow halting.
      Checks whether halting on this point is allowed.

      This method is a convenience method; its return value is equal to getType().equals(Point.Type.PARK_POSITION) || getType().equals(Point.Type.HALT_POSITION).

      Gibt zurück:
      true if, and only if, halting is allowed on this point.

    • getOccupyingVehicle

      public TCSObjectReference<Vehicle> getOccupyingVehicle()
      Returns a reference to the vehicle occupying this point.
      Gibt zurück:
      A reference to the vehicle occupying this point, or null, if this point isn't currently occupied by any vehicle.

    • withOccupyingVehicle

      public Point withOccupyingVehicle(TCSObjectReference<Vehicle> occupyingVehicle)
      Creates a copy of this object, with the given occupying vehicle.
      Parameter:
      occupyingVehicle - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getIncomingPaths

      public Set<TCSObjectReference<Path>> getIncomingPaths()
      Returns a set of references to paths ending in this point.
      Gibt zurück:
      A set of references to paths ending in this point.

    • withIncomingPaths

      public Point withIncomingPaths(Set<TCSObjectReference<Path>> incomingPaths)
      Creates a copy of this object, with the given incoming paths.
      Parameter:
      incomingPaths - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getOutgoingPaths

      public Set<TCSObjectReference<Path>> getOutgoingPaths()
      Returns a set of references to paths originating in this point.
      Gibt zurück:
      A set of references to paths originating in this point.

    • withOutgoingPaths

      public Point withOutgoingPaths(Set<TCSObjectReference<Path>> outgoingPaths)
      Creates a copy of this object, with the given outgoing paths.
      Parameter:
      outgoingPaths - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getAttachedLinks

      public Set<Location.Link> getAttachedLinks()
      Returns a set of links attached to this point.
      Gibt zurück:
      A set of links attached to this point.

    • withAttachedLinks

      public Point withAttachedLinks(Set<Location.Link> attachedLinks)
      Creates a copy of this object, with the given attached links.
      Parameter:
      attachedLinks - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getVehicleEnvelopes

      public Map<String,Envelope> getVehicleEnvelopes()
      Returns a map of envelope keys to envelopes that vehicles located at this point may occupy.
      Gibt zurück:
      A map of envelope keys to envelopes that vehicles located at this point may occupy.

    • withVehicleEnvelopes

      public Point withVehicleEnvelopes(Map<String,Envelope> vehicleEnvelopes)
      Creates a copy of this object, with the given vehicle envelopes.
      Parameter:
      vehicleEnvelopes - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getMaxVehicleBoundingBox

      public BoundingBox getMaxVehicleBoundingBox()
      Returns the maximum bounding box (in mm) that a vehicle at this point is allowed to have.

      The bounding box is oriented according to the orientation angle of this point so that the longitudinal axis of the bounding box runs parallel to the longitudinal axis of a vehicle located at this point. For the reference point offset, positive x values indicate an offset in the forward direction of the vehicle, positive y values an offset towards the lefthand side.

      Gibt zurück:
      The maximum bounding box (in mm) that a vehicle at this point is allowed to have.

    • withMaxVehicleBoundingBox

      public Point withMaxVehicleBoundingBox(BoundingBox maxVehicleBoundingBox)
      Creates a copy of this object, with the given maximum vehicle bounding box.

      The bounding box is oriented according to the orientation angle of this point so that the longitudinal axis of the bounding box runs parallel to the longitudinal axis of a vehicle located at this point. For the reference point offset, positive x values indicate an offset in the forward direction of the vehicle, positive y values an offset towards the lefthand side.

      Parameter:
      maxVehicleBoundingBox - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.

    • getLayout

      public Point.Layout getLayout()
      Returns the information regarding the graphical representation of this point.
      Gibt zurück:
      The information regarding the graphical representation of this point.

    • withLayout

      public Point withLayout(Point.Layout layout)
      Creates a copy of this object, with the given layout.
      Parameter:
      layout - The value to be set in the copy.
      Gibt zurück:
      A copy of this object, differing in the given value.