org.robokind.api.motion
Interface Robot<J extends Joint>

Type Parameters:

J - type of Joint used by this Robot

All Superinterfaces:

PropertyChangeSource

All Known Implementing Classes:

AbstractRobot, RemoteRobot, ServoRobot, SynchronizedRobot

public interface Robot<J extends Joint>
extends PropertyChangeSource

A Robot provides access to a List of Joints backed by a List of JointControllers.

Author:

Matthew Stevenson

Nested Class Summary

static class	Robot.Id Id is an immutable globally unique identifier for a Robot.
static class	Robot.JointId JointId is an immutable globally unique identifier for a Joint belonging to a Robot.
static class	Robot.RobotPositionHashMap RobotPositionMap backed by java.util.HashMap.
static interface	Robot.RobotPositionMap RobotPositionMap expected by the Robot.

Field Summary

static String	PROP_CONNECTED Property String for the connection status.
static String	PROP_ENABLED Property String for the enabled status.
static String	PROP_ID Property String for the Robot Id.

Method Summary

boolean	connect() The Robot will accept commands only after it is successfully connected.
void	disconnect() Disconnect the Robot.
Robot.RobotPositionMap	getCurrentPositions() Returns a map of the Robot's Joint's ids and their current positions.
Robot.RobotPositionMap	getDefaultPositions() Returns a map of the Robot's Joint's ids and their default positions.
Robot.RobotPositionMap	getGoalPositions() Returns a map of the Robot's Joint's ids and their goal positions.
J	getJoint(Robot.JointId id) Return the Joint with the given id.
Set<Robot.JointId>	getJointIds() Returns a set of the Robot's Joint ids.
List<J>	getJointList() Returns a List of the Robot's Joints.
String	getJointName(Robot.JointId id) The Robot's name for the Joint with the given logical id.
Map<Robot.JointId,String>	getJointNames() Returns a map of the Robot's Joint's ids and their names.
Map<Robot.JointId,? extends Joint>	getJoints() Returns a map of the Robot's Joints and their ids.
Robot.Id	getRobotId() Returns a String uniquely identifying this Robot.
boolean	isConnected() Returns true if the Robot is connected.
boolean	isEnabled() Returns true if the Robot is enabled and accepting commands.
void	move(Robot.RobotPositionMap positions, long lenMillisec) Move the Joints with the given ids to the corresponding positions.
void	setEnabled(boolean val) Sets the enabled status of the Robot.

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

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

PROP_ID

static final String PROP_ID

Property String for the Robot Id.

See Also:

Constant Field Values

PROP_CONNECTED

static final String PROP_CONNECTED

Property String for the connection status.

See Also:

Constant Field Values

PROP_ENABLED

static final String PROP_ENABLED

Property String for the enabled status.

See Also:

Constant Field Values

Method Detail

getRobotId

Robot.Id getRobotId()

Returns a String uniquely identifying this Robot.

Returns:

unique identifier for this Robot

connect

boolean connect()

The Robot will accept commands only after it is successfully connected.

Returns:

true is successful

disconnect

void disconnect()

Disconnect the Robot.

isConnected

boolean isConnected()

Returns true if the Robot is connected.

Returns:

true if the Robot is connected

setEnabled

void setEnabled(boolean val)

Sets the enabled status of the Robot. The Robot only accepts new movements when Enabled is set to true.

Parameters:

val - enabled value

isEnabled

boolean isEnabled()

Returns true if the Robot is enabled and accepting commands.

Returns:

true if the Robot is enabled and accepting commands

getJoint

J getJoint(Robot.JointId id)

Return the Joint with the given id.

Parameters:

id - Joint's logical id

Returns:

Joint with the given logical id, null if no Joint is found

getJointIds

Set<Robot.JointId> getJointIds()

Returns a set of the Robot's Joint ids.

Returns:

set of the Robot's Joint ids

getJointList

List<J> getJointList()

Returns a List of the Robot's Joints.

Returns:

List of the Robot's Joints

getJoints

Map<Robot.JointId,? extends Joint> getJoints()

Returns a map of the Robot's Joints and their ids.

Returns:

map of the Robot's Joints and their ids

getJointName

String getJointName(Robot.JointId id)

The Robot's name for the Joint with the given logical id.

Parameters:

id - Joint's logical id

Returns:

Robot's name for the Joint with the given logical id

getJointNames

Map<Robot.JointId,String> getJointNames()

Returns a map of the Robot's Joint's ids and their names.

Returns:

map of the Robot's Joint's ids and their names

getDefaultPositions

Robot.RobotPositionMap getDefaultPositions()

Returns a map of the Robot's Joint's ids and their default positions.

Returns:

map of the Robot's Joint's ids and their default positions

getCurrentPositions

Robot.RobotPositionMap getCurrentPositions()

Returns a map of the Robot's Joint's ids and their current positions.

Returns:

map of the Robot's Joint's ids and their current positions

getGoalPositions

Robot.RobotPositionMap getGoalPositions()

Returns a map of the Robot's Joint's ids and their goal positions.

Returns:

map of the Robot's Joint's ids and their goal positions

move

void move(Robot.RobotPositionMap positions,
          long lenMillisec)

Move the Joints with the given ids to the corresponding positions.

Parameters:

positions - map of Joint logical ids and positions

lenMillisec - duration of the movement in milliseconds