org.robokind.api.motion

Interface JointProperty<T>

Type Parameters:

T - Value Type returned by this JointProperty.

All Superinterfaces:

PropertyChangeSource

All Known Implementing Classes:

EnableMovement, EnableTorque, JointProperty.ReadOnly, ReadAbsoluteCurrentPosition, ReadAbsoluteGoalPosition, ReadCurrentPosition, ReadLoad, ReadSpeed, ReadTemperature, ReadVoltage, RemoteJointProperty

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

Nested Classes

Modifier and Type	Interface and Description
static class	JointProperty.ReadOnly<T> Defines a JointProperty which can read but not write.

Method Summary

Methods

Modifier and Type	Method and Description
String	getDisplayName() Returns the display name of the JointProperty.
NormalizableRange<T>	getNormalizableRange()
Class<T>	getPropertyClass() Returns the JointProperty's value Type.
String	getPropertyName() Returns the name of the JointProperty.
T	getValue() Returns the value for this JointProperty, and caches the value.
boolean	getWriteable() Returns true if getValue() 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

getWriteable

boolean getWriteable()

Returns true if getValue() is supported.

Returns:

true if getValue() 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

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

getNormalizableRange

NormalizableRange<T> getNormalizableRange()