org.mechio.impl.motion.messaging
Class PortableJointDefinition

java.lang.Object
  org.mechio.impl.motion.messaging.PortableJointDefinition

All Implemented Interfaces:

RobotDefinitionResponse.JointDefinition

public class PortableJointDefinition
extends java.lang.Object
implements RobotDefinitionResponse.JointDefinition

Author:

Matthew Stevenson

Constructor Summary

PortableJointDefinition(Joint.Id jId, java.lang.String name, org.jflux.api.common.rk.position.NormalizedDouble defPos, org.jflux.api.common.rk.position.NormalizedDouble goalPos, boolean enabled, java.util.List<JointProperty> properties)

PortableJointDefinition(Joint joint)

PortableJointDefinition(JointDefinitionRecord record)

PortableJointDefinition(RobotDefinitionResponse.JointDefinition jointDef)

Method Summary

org.jflux.api.common.rk.position.NormalizedDouble	getDefaultPosition()
boolean	getEnabled()
org.jflux.api.common.rk.position.NormalizedDouble	getGoalPosition()
Joint.Id	getJointId()
java.util.List<RobotDefinitionResponse.JointPropDefinition>	getJointProperties()
java.lang.String	getName()
JointDefinitionRecord	getRecord()

Methods inherited from class java.lang.Object

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

Constructor Detail

PortableJointDefinition

public PortableJointDefinition(JointDefinitionRecord record)

PortableJointDefinition

public PortableJointDefinition(RobotDefinitionResponse.JointDefinition jointDef)

PortableJointDefinition

public PortableJointDefinition(Joint.Id jId,
                               java.lang.String name,
                               org.jflux.api.common.rk.position.NormalizedDouble defPos,
                               org.jflux.api.common.rk.position.NormalizedDouble goalPos,
                               boolean enabled,
                               java.util.List<JointProperty> properties)

PortableJointDefinition

public PortableJointDefinition(Joint joint)

Method Detail

getJointId

public Joint.Id getJointId()

Specified by:

getJointId in interface RobotDefinitionResponse.JointDefinition

getName

public java.lang.String getName()

Specified by:

getName in interface RobotDefinitionResponse.JointDefinition

getDefaultPosition

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

Specified by:

getDefaultPosition in interface RobotDefinitionResponse.JointDefinition

getGoalPosition

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

Specified by:

getGoalPosition in interface RobotDefinitionResponse.JointDefinition

getEnabled

public boolean getEnabled()

Specified by:

getEnabled in interface RobotDefinitionResponse.JointDefinition

getJointProperties

public java.util.List<RobotDefinitionResponse.JointPropDefinition> getJointProperties()

Specified by:

getJointProperties in interface RobotDefinitionResponse.JointDefinition

getRecord

public JointDefinitionRecord getRecord()