org.robokind.api.motion
Interface JointProperty<T>

Type Parameters:

T - Value Type returned by this JointProperty.

All Superinterfaces:

PropertyChangeSource

All Known Implementing Classes:

JointProperty.ReadOnly, JointProperty.ReadWrite, ReadCurrentPosition, ReadLoad, ReadSpeed, ReadTemperature, ReadVoltage

public interface JointProperty<T>
extends PropertyChangeSource

Defines additional properties or capabilities of a given Joint, such as \ position feedback or moving speed.

Author:

Matthew Stevenson

Nested Class Summary

static class	JointProperty.ReadOnly<T> Defines a JointProperty which can read but not write.
static class	JointProperty.ReadWrite<T> Defines a JointProperty which can read and write.

Method Summary

T	getCachedValue() Returns the cached value for this JointProperty.
String	getDisplayName() Returns the display name of the JointProperty.
Class<T>	getPropertyClass() Returns the JointProperty's value Type.
String	getPropertyName() Returns the name of the JointProperty.
boolean	getReadable() Returns true if getValue() is supported.
T	getValue() Returns the value for this JointProperty, and caches the value.
boolean	getWriteable() Returns true if setValue(T val) is supported.
void	setValue(T val) Sets the value of the JointProperty.

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

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Method Detail

getPropertyName

String getPropertyName()

Returns the name of the JointProperty.

Returns:

name of the JointProperty

getDisplayName

String getDisplayName()

Returns the display name of the JointProperty.

Returns:

display name of the JointProperty

getPropertyClass

Class<T> getPropertyClass()

Returns the JointProperty's value Type.

Returns:

JointProperty's value Type

getReadable

boolean getReadable()

Returns true if getValue() is supported.

Returns:

true if getValue() is supported

getWriteable

boolean getWriteable()

Returns true if setValue(T val) is supported.

Returns:

true if setValue(T val) is supported

getValue

T getValue()

Returns the value for this JointProperty, and caches the value.

Returns:

the value for this JointProperty, and caches the value

Throws:

UnsupportedOperationException - if getValue is not supported

getCachedValue

T getCachedValue()

Returns the cached value for this JointProperty. If getValue() has not been called, this will return null.

Returns:

the cached value for this JointProperty. If getValue() has not been called, this will return null

setValue

void setValue(T val)

Sets the value of the JointProperty.

Parameters:

val - the new value to set

Throws:

UnsupportedOperationException - if setValue is not supported