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J
- type of Joint used by this Robotpublic interface Robot<J extends Joint>
A Robot provides access to a List of Joints backed by a List of JointControllers.
Nested Class Summary | |
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static class |
Robot.Id
Id is an immutable globally unique identifier for a Robot. |
static class |
Robot.JointId
JointId is an immutable globally unique identifier for a Joint belonging to a Robot. |
static class |
Robot.RobotPositionHashMap
RobotPositionMap backed by java.util.HashMap. |
static interface |
Robot.RobotPositionMap
RobotPositionMap expected by the Robot. |
Field Summary | |
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static String |
PROP_CONNECTED
Property String for the connection status. |
static String |
PROP_ENABLED
Property String for the enabled status. |
static String |
PROP_ID
Property String for the Robot Id. |
Method Summary | |
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boolean |
connect()
The Robot will accept commands only after it is successfully connected. |
void |
disconnect()
Disconnect the Robot. |
Robot.RobotPositionMap |
getCurrentPositions()
Returns a map of the Robot's Joint's ids and their current positions. |
Robot.RobotPositionMap |
getDefaultPositions()
Returns a map of the Robot's Joint's ids and their default positions. |
Robot.RobotPositionMap |
getGoalPositions()
Returns a map of the Robot's Joint's ids and their goal positions. |
J |
getJoint(Robot.JointId id)
Return the Joint with the given id. |
Set<Robot.JointId> |
getJointIds()
Returns a set of the Robot's Joint ids. |
List<J> |
getJointList()
Returns a List of the Robot's Joints. |
String |
getJointName(Robot.JointId id)
The Robot's name for the Joint with the given logical id. |
Robot.Id |
getRobotId()
Returns a String uniquely identifying this Robot. |
boolean |
isConnected()
Returns true if the Robot is connected. |
boolean |
isEnabled()
Returns true if the Robot is enabled and accepting commands. |
void |
move(Robot.RobotPositionMap positions,
long lenMillisec)
Move the Joints with the given ids to the corresponding positions. |
void |
setEnabled(boolean val)
Sets the enabled status of the Robot. |
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource |
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addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener |
Field Detail |
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static final String PROP_ID
static final String PROP_CONNECTED
static final String PROP_ENABLED
Method Detail |
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Robot.Id getRobotId()
boolean connect()
void disconnect()
boolean isConnected()
void setEnabled(boolean val)
val
- enabled valueboolean isEnabled()
J getJoint(Robot.JointId id)
id
- Joint's logical id
Set<Robot.JointId> getJointIds()
List<J> getJointList()
String getJointName(Robot.JointId id)
id
- Joint's logical id
Robot.RobotPositionMap getDefaultPositions()
Robot.RobotPositionMap getCurrentPositions()
Robot.RobotPositionMap getGoalPositions()
void move(Robot.RobotPositionMap positions, long lenMillisec)
positions
- map of Joint logical ids and positionslenMillisec
- duration of the movement in milliseconds
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