org.robokind.api.motion
Class AbstractJoint

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.AbstractJoint

All Implemented Interfaces:

PropertyChangeListener, EventListener, PropertyChangeSource, Joint

Direct Known Subclasses:

ServoJoint

public abstract class AbstractJoint
extends PropertyChangeNotifier
implements Joint, PropertyChangeListener

Abstract implementation providing much of the functionality need to implement various Joints.

Author:

Matthew Stevenson

Nested Class Summary

Nested classes/interfaces inherited from interface org.robokind.api.motion.Joint

Joint.Id

Field Summary

protected Map<String,JointProperty>

myProperties JointProperties available from this Joint

Fields inherited from interface org.robokind.api.motion.Joint

PROP_ENABLED, PROP_GOAL_POSITION

Constructor Summary

AbstractJoint(Joint.Id id)
Creates a new AbstractJoint with the given Id.

Method Summary

protected void	addProperty(JointProperty prop) Adds a JointProperty to the Joint
Joint.Id	getId() Returns the Joint's logical id.
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	propertyChange(PropertyChangeEvent pce) Used to broadcast PropertyChangeEvents from internal sources such as JointProperties or, in the case of a ServoJoint, a Servo.
protected void	removeProperty(JointProperty prop) Removes a JointProperty from the Joint

Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.robokind.api.motion.Joint

getDefaultPosition, getEnabled, getGoalPosition, getName, setEnabled

Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myProperties

protected Map<String,JointProperty> myProperties

JointProperties available from this Joint

Constructor Detail

AbstractJoint

public AbstractJoint(Joint.Id id)

Creates a new AbstractJoint with the given Id.

Parameters:

id - Joint.Id of the new Joint

Method Detail

getId

public Joint.Id getId()

Description copied from interface: Joint

Returns the Joint's logical id.

Specified by:

getId in interface Joint

Returns:

Joint's logical id

addProperty

protected void addProperty(JointProperty prop)

Adds a JointProperty to the Joint

Parameters:

prop - JointProperty to add

removeProperty

protected void removeProperty(JointProperty prop)

Removes a JointProperty from the Joint

Parameters:

prop - JointProperty to remove

getProperty

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

Description copied from interface: Joint

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

Specified by:

getProperty in interface Joint

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

public JointProperty getProperty(String name)

Description copied from interface: Joint

Returns the JointProperty with the given name.

Specified by:

getProperty in interface Joint

Parameters:

name - name of the JointProperty

Returns:

the JointProperty with the given name

propertyChange

public void propertyChange(PropertyChangeEvent pce)

Used to broadcast PropertyChangeEvents from internal sources such as JointProperties or, in the case of a ServoJoint, a Servo.

Specified by:

propertyChange in interface PropertyChangeListener

Parameters:

pce - internal PropertyChangeEvent to