org.mechio.api.motion.servos.utils

Class AbstractServoJointAdapter<S extends Servo>

java.lang.Object

org.mechio.api.motion.servos.utils.AbstractServoJointAdapter<S>

Type Parameters:

S - Type of Servo used

All Implemented Interfaces:

ServoJointAdapter<S,ServoJoint<S>>

public abstract class AbstractServoJointAdapter<S extends Servo>
extends Object
implements ServoJointAdapter<S,ServoJoint<S>>

Common functionality for ServoJointAdapters.

Author:

Matthew Stevenson

Constructor Summary

Constructors

Constructor and Description
AbstractServoJointAdapter()

Method Summary

Methods

Modifier and Type	Method and Description
ServoJoint<S>	getJoint(Joint.Id jId, S s) Creates a ServoJoint with the given Joint.Id, Servo, and default JointProperties returned by getJointProperties
protected abstract List<JointProperty>	getJointProperties(S servo) Returns the default JointProperties for a new ServoJoint.

Methods inherited from class java.lang.Object

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

Constructor Detail

AbstractServoJointAdapter

public AbstractServoJointAdapter()

Method Detail

getJoint

public ServoJoint<S> getJoint(Joint.Id jId,
                     S s)

Creates a ServoJoint with the given Joint.Id, Servo, and default JointProperties returned by getJointProperties

Specified by:

getJoint in interface ServoJointAdapter<S extends Servo,ServoJoint<S extends Servo>>

Parameters:

jId - Joint.Id for the ServoJoint

s - Servo to use

Returns:

ServoJoint with the given Joint.Id, Servo, and default JointProperties returned by getJointProperties

getJointProperties

protected abstract List<JointProperty> getJointProperties(S servo)

Returns the default JointProperties for a new ServoJoint.

Parameters:

servo - Servo to get JointProperties for

Returns:

A List of the default JointProperties for a new ServoJoint