org.robokind.impl.motion.messaging
Class PortableJointDefinition

java.lang.Object
  org.robokind.impl.motion.messaging.PortableJointDefinition

All Implemented Interfaces:

RobotDefinitionResponse.JointDefinition

public class PortableJointDefinition
extends Object
implements RobotDefinitionResponse.JointDefinition

Author:

Matthew Stevenson

Constructor Summary

PortableJointDefinition(Joint.Id jId, String name, NormalizedDouble defPos, NormalizedDouble goalPos, boolean enabled, List<JointProperty> properties)

PortableJointDefinition(Joint joint)

PortableJointDefinition(JointDefinitionRecord record)

PortableJointDefinition(RobotDefinitionResponse.JointDefinition jointDef)

Method Summary

NormalizedDouble	getDefaultPosition()
boolean	getEnabled()
NormalizedDouble	getGoalPosition()
Joint.Id	getJointId()
List<RobotDefinitionResponse.JointPropDefinition>	getJointProperties()
String	getName()
JointDefinitionRecord	getRecord()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PortableJointDefinition

public PortableJointDefinition(JointDefinitionRecord record)

PortableJointDefinition

public PortableJointDefinition(RobotDefinitionResponse.JointDefinition jointDef)

PortableJointDefinition

public PortableJointDefinition(Joint.Id jId,
                               String name,
                               NormalizedDouble defPos,
                               NormalizedDouble goalPos,
                               boolean enabled,
                               List<JointProperty> properties)

PortableJointDefinition

public PortableJointDefinition(Joint joint)

Method Detail

getJointId

public Joint.Id getJointId()

Specified by:

getJointId in interface RobotDefinitionResponse.JointDefinition

getName

public String getName()

Specified by:

getName in interface RobotDefinitionResponse.JointDefinition

getDefaultPosition

public NormalizedDouble getDefaultPosition()

Specified by:

getDefaultPosition in interface RobotDefinitionResponse.JointDefinition

getGoalPosition

public NormalizedDouble getGoalPosition()

Specified by:

getGoalPosition in interface RobotDefinitionResponse.JointDefinition

getEnabled

public boolean getEnabled()

Specified by:

getEnabled in interface RobotDefinitionResponse.JointDefinition

getJointProperties

public List<RobotDefinitionResponse.JointPropDefinition> getJointProperties()

Specified by:

getJointProperties in interface RobotDefinitionResponse.JointDefinition

getRecord

public JointDefinitionRecord getRecord()