org.robokind.api.motion
Class AbstractRobot<J extends Joint>

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.AbstractRobot<J>

Type Parameters:

J - Type of Joint used by this Robot

All Implemented Interfaces:

PropertyChangeSource, Robot<J>

Direct Known Subclasses:

RemoteRobot, ServoRobot, SynchronizedRobot

public abstract class AbstractRobot<J extends Joint>
extends PropertyChangeNotifier
implements Robot<J>

Provides common functionality for Robot implementations

Author:

Matthew Stevenson

Nested Class Summary

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

Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap

Field Summary

protected List<J>	myJointList List of Joints to preserve order
protected Map<Robot.JointId,J>	myJointMap Map of the Robot's JointIds and Joints.

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

PROP_CONNECTED, PROP_ENABLED, PROP_ID

Constructor Summary

AbstractRobot(Robot.Id robotId)
Creates an empty Robot with the given RobotId

Method Summary

protected boolean	addJoint(J j) Adds the given Joint to the Robot.
protected void	clearJoints() Removes all Joints from 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.
Robot.Id	getRobotId() Returns a String uniquely identifying this Robot.
boolean	isEnabled() Returns true if the Robot is enabled and accepting commands.
protected boolean	removeJoint(J j) Removes the given Joint from the Robot.
void	setEnabled(boolean val) Sets the enabled status of the Robot.

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, toString, wait, wait, wait

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

connect, disconnect, isConnected, move

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

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myJointMap

protected Map<Robot.JointId,J extends Joint> myJointMap

Map of the Robot's JointIds and Joints.

myJointList

protected List<J extends Joint> myJointList

List of Joints to preserve order

Constructor Detail

AbstractRobot

public AbstractRobot(Robot.Id robotId)

Creates an empty Robot with the given RobotId

Parameters:

robotId - unique RobotId

Method Detail

getRobotId

public Robot.Id getRobotId()

Description copied from interface: Robot

Returns a String uniquely identifying this Robot.

Specified by:

getRobotId in interface Robot<J extends Joint>

Returns:

unique identifier for this Robot

getJoint

public J getJoint(Robot.JointId id)

Description copied from interface: Robot

Return the Joint with the given id.

Specified by:

getJoint in interface Robot<J extends Joint>

Parameters:

id - Joint's logical id

Returns:

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

getJointIds

public Set<Robot.JointId> getJointIds()

Description copied from interface: Robot

Returns a set of the Robot's Joint ids.

Specified by:

getJointIds in interface Robot<J extends Joint>

Returns:

set of the Robot's Joint ids

getJointName

public String getJointName(Robot.JointId id)

Description copied from interface: Robot

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

Specified by:

getJointName in interface Robot<J extends Joint>

Parameters:

id - Joint's logical id

Returns:

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

isEnabled

public boolean isEnabled()

Returns true if the Robot is enabled and accepting commands.

Specified by:

isEnabled in interface Robot<J extends Joint>

Returns:

true if the Robot is enabled and accepting commands

setEnabled

public void setEnabled(boolean val)

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

Specified by:

setEnabled in interface Robot<J extends Joint>

Parameters:

val - enabled value

getDefaultPositions

public Robot.RobotPositionMap getDefaultPositions()

Description copied from interface: Robot

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

Specified by:

getDefaultPositions in interface Robot<J extends Joint>

Returns:

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

getCurrentPositions

public Robot.RobotPositionMap getCurrentPositions()

Description copied from interface: Robot

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

Specified by:

getCurrentPositions in interface Robot<J extends Joint>

Returns:

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

getGoalPositions

public Robot.RobotPositionMap getGoalPositions()

Description copied from interface: Robot

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

Specified by:

getGoalPositions in interface Robot<J extends Joint>

Returns:

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

addJoint

protected boolean addJoint(J j)

Adds the given Joint to the Robot.

Parameters:

j - Joint to add

Returns:

true if successful

removeJoint

protected boolean removeJoint(J j)

Removes the given Joint from the Robot.

Parameters:

j - Joint to remove

Returns:

true if successful

clearJoints

protected void clearJoints()

Removes all Joints from the Robot.

getJointList

public List<J> getJointList()

Description copied from interface: Robot

Returns a List of the Robot's Joints.

Specified by:

getJointList in interface Robot<J extends Joint>

Returns:

List of the Robot's Joints