org.robokind.api.motion.messaging

Class RemoteJoint

java.lang.Object

org.robokind.api.common.property.PropertyChangeNotifier

org.robokind.api.motion.messaging.RemoteJoint

All Implemented Interfaces:

PropertyChangeSource, Joint

public class RemoteJoint
extends PropertyChangeNotifier
implements Joint

RemoteJoint represents a Joint on a RemoteRobot.

Author:

Matthew Stevenson

Nested Class Summary

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

Joint.Id

Field Summary

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

PROP_ENABLED, PROP_GOAL_POSITION

Constructor Summary

Constructors

Constructor and Description
RemoteJoint(RemoteRobot robot, RobotDefinitionResponse.JointDefinition def) Creates a RemoteJoint with the given values.

Method Summary

Methods

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.
protected void	setGoalPosition(NormalizedDouble goal)
Boolean	updateEnabledStatus() Makes a request to the remote joint for the actual enabled status, and updates this joint, firing a property change event.

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.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Constructor Detail

RemoteJoint

public RemoteJoint(RemoteRobot robot,
           RobotDefinitionResponse.JointDefinition def)

Creates a RemoteJoint with the given values.

Parameters:

robot - RemoteRobot this RemoteJoint belongs to

def - JointDefinition for initializing this Joint

Method Detail

getId

public Joint.Id getId()

Description copied from interface: Joint

Returns the Joint's logical id.

Specified by:

getId in interface Joint

Returns:

Joint's logical id

getName

public String getName()

Description copied from interface: Joint

Returns the name of the Joint.

Specified by:

getName in interface Joint

Returns:

name of the Joint

getDefaultPosition

public NormalizedDouble getDefaultPosition()

Description copied from interface: Joint

Returns the Joint's default position.

Specified by:

getDefaultPosition in interface Joint

Returns:

Joint's default position

setGoalPosition

protected void setGoalPosition(NormalizedDouble goal)

Parameters:

goal -

getGoalPosition

public NormalizedDouble getGoalPosition()

Description copied from interface: Joint

Returns the goal position.

Specified by:

getGoalPosition in interface Joint

Returns:

goal position

setEnabled

public void setEnabled(Boolean enabled)

Description copied from interface: Joint

If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Specified by:

setEnabled in interface Joint

getEnabled

public Boolean getEnabled()

Description copied from interface: Joint

If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Specified by:

getEnabled in interface Joint

Returns:

true if enabled

updateEnabledStatus

public Boolean updateEnabledStatus()

Makes a request to the remote joint for the actual enabled status, and updates this joint, firing a property change event. Returns true if the request was successful and false if it timed out.

Returns:

true if the request was successful and false if it timed out

getProperty

public <T> JointProperty<T> getProperty(String name,
                               Class<T> propertyType)

Description copied from interface: Joint

Returns the JointProperty with the given name, ensuring the value is assignable to propertyType.

Specified by:

getProperty in interface Joint

Type Parameters:

T - Value Type returned by the JointProperty

Parameters:

name - name of the JointProperty

propertyType - Class for T

Returns:

the JointProperty with the given name and value assignable to propertyType

getProperty

public JointProperty getProperty(String name)

Description copied from interface: Joint

Returns the JointProperty with the given name.

Specified by:

getProperty in interface Joint

Parameters:

name - name of the JointProperty

Returns:

the JointProperty with the given name

getPositionRange

public NormalizableRange<Double> getPositionRange()

Description copied from interface: Joint

Returns the NormalizableRange describing the range of motion.

Specified by:

getPositionRange in interface Joint

Returns:

NormalizableRange describing the range of motion

getProperties

public Collection<JointProperty> getProperties()

Specified by:

getProperties in interface Joint