public class RemoteJoint extends PropertyChangeNotifier implements Joint
PROP_ENABLED, PROP_GOAL_POSITION| Constructor and Description |
|---|
RemoteJoint(RemoteRobot robot,
RobotDefinitionResponse.JointDefinition def)
Creates a RemoteJoint with the given values.
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| 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.
|
addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListenerclone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitaddPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListenerpublic RemoteJoint(RemoteRobot robot, RobotDefinitionResponse.JointDefinition def)
robot - RemoteRobot this RemoteJoint belongs todef - JointDefinition for initializing this Jointpublic Joint.Id getId()
Jointpublic String getName()
Jointpublic NormalizedDouble getDefaultPosition()
JointgetDefaultPosition in interface Jointprotected void setGoalPosition(NormalizedDouble goal)
goal - public NormalizedDouble getGoalPosition()
JointgetGoalPosition in interface Jointpublic void setEnabled(Boolean enabled)
JointsetEnabled in interface Jointpublic Boolean getEnabled()
JointgetEnabled in interface Jointpublic Boolean updateEnabledStatus()
public <T> JointProperty<T> getProperty(String name, Class<T> propertyType)
JointgetProperty in interface JointT - Value Type returned by the JointPropertyname - name of the JointPropertypropertyType - Class for Tpublic JointProperty getProperty(String name)
JointgetProperty in interface Jointname - name of the JointPropertypublic NormalizableRange<Double> getPositionRange()
JointgetPositionRange in interface Jointpublic Collection<JointProperty> getProperties()
getProperties in interface JointCopyright © 2011-2014. All Rights Reserved.