org.mechio.api.motion

Interface Joint

All Superinterfaces:

org.jflux.api.common.rk.property.PropertyChangeSource

All Known Implementing Classes:

AbstractJoint, EmptyServoJoint, RemoteJoint, ServoJoint

public interface Joint
extends org.jflux.api.common.rk.property.PropertyChangeSource

A Joint represents the values and properties of a DoF (degree of freedom) of a Robot. A Joint provides the goal position, and various JointProperties. Joints are intended to provide read-only access to properties, however some JointProperties can support writing the property as well. Joints can not be moved directly, move commands must go through the Robot.

Author:

Matthew Stevenson

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Joint.Id Joint.Id is an immutable identifier for a Joint within a Robot or ServoController.

Field Summary

Fields

Modifier and Type	Field and Description
static String	PROP_ENABLED Property string for Enabled.
static String	PROP_GOAL_POSITION Property string for GoalPostion.

Method Summary

Methods

Modifier and Type	Method and Description
org.jflux.api.common.rk.position.NormalizedDouble	getDefaultPosition() Returns the Joint's default position.
Boolean	getEnabled() If enabled, this Joint will accept move commands.
org.jflux.api.common.rk.position.NormalizedDouble	getGoalPosition() Returns the goal position.
Joint.Id	getId() Returns the Joint's logical id.
String	getName() Returns the name of the Joint.
org.jflux.api.common.rk.position.NormalizableRange<Double>	getPositionRange() Returns the NormalizableRange describing the range of motion.
Collection<JointProperty>	getProperties()
JointProperty	getProperty(String name) Returns the JointProperty with the given name.
<T> JointProperty<T>	getProperty(String name, Class<T> propertyType) Returns the JointProperty with the given name, ensuring the value is assignable to propertyType.
void	setEnabled(Boolean enabled) If enabled, this Joint will accept move commands.

Methods inherited from interface org.jflux.api.common.rk.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

PROP_GOAL_POSITION

static final String PROP_GOAL_POSITION

Property string for GoalPostion.

See Also:

Constant Field Values

PROP_ENABLED

static final String PROP_ENABLED

Property string for Enabled.

See Also:

Constant Field Values

Method Detail

getId

Joint.Id getId()

Returns the Joint's logical id.

Returns:

Joint's logical id

getName

String getName()

Returns the name of the Joint.

Returns:

name of the Joint

getDefaultPosition

org.jflux.api.common.rk.position.NormalizedDouble getDefaultPosition()

Returns the Joint's default position.

Returns:

Joint's default position

getPositionRange

org.jflux.api.common.rk.position.NormalizableRange<Double> getPositionRange()

Returns the NormalizableRange describing the range of motion.

Returns:

NormalizableRange describing the range of motion

getGoalPosition

org.jflux.api.common.rk.position.NormalizedDouble getGoalPosition()

Returns the goal position.

Returns:

goal position

setEnabled

void setEnabled(Boolean enabled)

If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Parameters:

enabled -

getEnabled

Boolean getEnabled()

If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Returns:

true if enabled

getProperty

<T> JointProperty<T> getProperty(String name,
                               Class<T> propertyType)

Returns the JointProperty with the given name, ensuring the value is assignable to propertyType.

Type Parameters:

T - Value Type returned by the JointProperty

Parameters:

name - name of the JointProperty

propertyType - Class for T

Returns:

the JointProperty with the given name and value assignable to propertyType

getProperty

JointProperty getProperty(String name)

Returns the JointProperty with the given name.

Parameters:

name - name of the JointProperty

Returns:

the JointProperty with the given name

getProperties

Collection<JointProperty> getProperties()