org.robokind.api.motion.jointgroup
Class AbstractJointGroup<Id,G extends JointGroup,J extends Joint>

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.jointgroup.AbstractJointGroup<Id,G,J>

Type Parameters:

Id - Type used to identify Joints

G - Type of child JointGroups

J - Type of Joints used by this JointGroup

All Implemented Interfaces:

PropertyChangeSource, JointGroup<Id,G,J>

Direct Known Subclasses:

RobotJointGroup

public abstract class AbstractJointGroup<Id,G extends JointGroup,J extends Joint>
extends PropertyChangeNotifier
implements JointGroup<Id,G,J>

Abstract class providing common functionality for JointGroups.

Author:

Matthew Stevenson

Field Summary

protected List<G>	myGroups Child JointGroups
protected List<Id>	myJointIds JointIds used by this JointGroup
protected String	myName Name of this JointGroup

Fields inherited from interface org.robokind.api.motion.jointgroup.JointGroup

PROP_ADD_JOINT_GROUP, PROP_ADD_JOINT_ID, PROP_ENABLED, PROP_JOINT_CHANGED, PROP_NAME, PROP_REMOVE_JOINT_GROUP, PROP_REMOVE_JOINT_ID, PROP_STRUCTURE_CHANGED

Constructor Summary

AbstractJointGroup()
Creates an empty AbstractJointGroup

AbstractJointGroup(String name, List<Id> ids, List<G> groups)

Method Summary

void	addGroup(G group) Add a child JointGroup.
void	addJointId(Id jointId) Adds a JointId to this JointGroup.
boolean	getEnabled() Returns the enabled state
int	getGroupCount() Return the number of child JointGroups.
J	getJoint(int index) Returns the Joint at the given index, or null if out of bounds.
protected abstract J	getJointById(Id jointId) Retrieves a Joint with the given jointId.
int	getJointCount() Returns the number of JointIds for this JointGroup.
G	getJointGroup(int index) Returns the child JointGroup at the given index.
List<G>	getJointGroups() Returns a List of the children JointGroups.
Id	getJointId(int index) Returns the JointId at the given index.
List<Id>	getJointIds() Returns a List of JointIds for this JointGroup
List<J>	getJoints() Returns a List of Joints belonging to this JointGroup.
String	getName() Returns the name to use
void	insertGroup(G group, int index) Add a child JointGroup at the given index.
void	insertJointId(Id jointId, int index) Adds a JointId to this JointGroup at the given index.
void	removeGroup(G group) Removes a child JointGroup.
void	removeGroupAt(int index) Removes a child JointGroup at the given index.
void	removeJointId(Id jointId) Removes a JointId
void	removeJointIdAt(int index) Removes the JointId with the given index.
void	setEnabled(boolean enabled) Sets the enabled state of the JointGroup
void	setName(String name) Sets the name of the JointGroup
String	toString()

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

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

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

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

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myName

protected String myName

Name of this JointGroup

myJointIds

protected List<Id> myJointIds

JointIds used by this JointGroup

myGroups

protected List<G extends JointGroup> myGroups

Child JointGroups

Constructor Detail

AbstractJointGroup

public AbstractJointGroup()

Creates an empty AbstractJointGroup

AbstractJointGroup

public AbstractJointGroup(String name,
                          List<Id> ids,
                          List<G> groups)

Parameters:

name - name of this JointGroup

ids - initial JointIds

groups - initial child JointGroups

Method Detail

getJointById

protected abstract J getJointById(Id jointId)

Retrieves a Joint with the given jointId.

Parameters:

jointId - id of the joint to retrieve

Returns:

Joint with the given jointId, null if no Joint is found

setName

public void setName(String name)

Description copied from interface: JointGroup

Sets the name of the JointGroup

Specified by:

setName in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

name - new name to use

getName

public String getName()

Description copied from interface: JointGroup

Returns the name to use

Specified by:

getName in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

the name to use

setEnabled

public void setEnabled(boolean enabled)

Description copied from interface: JointGroup

Sets the enabled state of the JointGroup

Specified by:

setEnabled in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

enabled - enabled state to use

getJoint

public J getJoint(int index)

Returns the Joint at the given index, or null if out of bounds.

Specified by:

getJoint in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

index - index of the Joint to return

Returns:

Joint at the given index, or null if out of bounds

getJoints

public List<J> getJoints()

Returns a List of Joints belonging to this JointGroup.

Specified by:

getJoints in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

List of Joints belonging to this JointGroup

getEnabled

public boolean getEnabled()

Description copied from interface: JointGroup

Returns the enabled state

Specified by:

getEnabled in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

the enabled state

addJointId

public void addJointId(Id jointId)

Description copied from interface: JointGroup

Adds a JointId to this JointGroup. If the given id already exists in this JointGroup, it is ignored.

Specified by:

addJointId in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

jointId - the id to add

insertJointId

public void insertJointId(Id jointId,
                          int index)

Description copied from interface: JointGroup

Adds a JointId to this JointGroup at the given index. If the given id already exists in this JointGroup, it is ignored.

Specified by:

insertJointId in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

jointId - the id to add

index - index at which to insert the Joint Id

removeJointId

public void removeJointId(Id jointId)

Description copied from interface: JointGroup

Removes a JointId

Specified by:

removeJointId in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

jointId - id to remove

removeJointIdAt

public void removeJointIdAt(int index)

Description copied from interface: JointGroup

Removes the JointId with the given index.

Specified by:

removeJointIdAt in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

index - position of the JointId in this JointGroup's JointIds

getJointIds

public List<Id> getJointIds()

Description copied from interface: JointGroup

Returns a List of JointIds for this JointGroup

Specified by:

getJointIds in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

a List of JointIds for this JointGroup

getJointId

public Id getJointId(int index)

Description copied from interface: JointGroup

Returns the JointId at the given index.

Specified by:

getJointId in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

index - position of the JointId in the JointGroup's JointIds

Returns:

the JointId at the given index

getJointCount

public int getJointCount()

Description copied from interface: JointGroup

Returns the number of JointIds for this JointGroup.

Specified by:

getJointCount in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

the number of JointIds for this JointGroup

addGroup

public void addGroup(G group)

Description copied from interface: JointGroup

Add a child JointGroup.

Specified by:

addGroup in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

group - child JointGroup to add

insertGroup

public void insertGroup(G group,
                        int index)

Description copied from interface: JointGroup

Add a child JointGroup at the given index.

Specified by:

insertGroup in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

group - child JointGroup to add

index - position to add the child

removeGroup

public void removeGroup(G group)

Description copied from interface: JointGroup

Removes a child JointGroup.

Specified by:

removeGroup in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

group - the child to remove

removeGroupAt

public void removeGroupAt(int index)

Description copied from interface: JointGroup

Removes a child JointGroup at the given index.

Specified by:

removeGroupAt in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

index - position of the child to remove

getJointGroups

public List<G> getJointGroups()

Description copied from interface: JointGroup

Returns a List of the children JointGroups.

Specified by:

getJointGroups in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

a List of the children JointGroups

getJointGroup

public G getJointGroup(int index)

Description copied from interface: JointGroup

Returns the child JointGroup at the given index.

Specified by:

getJointGroup in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Parameters:

index - position to the child to remove

Returns:

the child JointGroup removed

getGroupCount

public int getGroupCount()

Description copied from interface: JointGroup

Return the number of child JointGroups.

Specified by:

getGroupCount in interface JointGroup<Id,G extends JointGroup,J extends Joint>

Returns:

the number of child JointGroups

toString

public String toString()

Overrides:

toString in class Object