public interface Joint extends PropertyChangeSource
| Modifier and Type | Interface and Description |
|---|---|
static class |
Joint.Id
Joint.Id is an immutable identifier for a Joint within a Robot or
ServoController.
|
| Modifier and Type | Field and Description |
|---|---|
static String |
PROP_ENABLED
Property string for Enabled.
|
static String |
PROP_GOAL_POSITION
Property string for GoalPostion.
|
| Modifier and Type | Method and Description |
|---|---|
NormalizedDouble |
getDefaultPosition()
Returns the Joint's default position.
|
Boolean |
getEnabled()
If enabled, this Joint will accept move commands.
|
NormalizedDouble |
getGoalPosition()
Returns the goal position.
|
Joint.Id |
getId()
Returns the Joint's logical id.
|
String |
getName()
Returns the name of the Joint.
|
NormalizableRange<Double> |
getPositionRange()
Returns the NormalizableRange describing the range of motion.
|
Collection<JointProperty> |
getProperties() |
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 |
setEnabled(Boolean enabled)
If enabled, this Joint will accept move commands.
|
addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListenerstatic final String PROP_GOAL_POSITION
static final String PROP_ENABLED
Joint.Id getId()
String getName()
NormalizedDouble getDefaultPosition()
NormalizableRange<Double> getPositionRange()
NormalizedDouble getGoalPosition()
void setEnabled(Boolean enabled)
enabled - Boolean getEnabled()
<T> JointProperty<T> getProperty(String name, Class<T> propertyType)
T - Value Type returned by the JointPropertyname - name of the JointPropertypropertyType - Class for TJointProperty getProperty(String name)
name - name of the JointPropertyCollection<JointProperty> getProperties()
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