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java.lang.Objectorg.robokind.api.common.property.PropertyChangeNotifier
org.robokind.api.motion.messaging.RemoteJoint
public class RemoteJoint
RemoteJoint represents a Joint on a RemoteRobot.
Nested Class Summary |
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Nested classes/interfaces inherited from interface org.robokind.api.motion.Joint |
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Joint.Id |
Field Summary |
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Fields inherited from interface org.robokind.api.motion.Joint |
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PROP_ENABLED, PROP_GOAL_POSITION |
Constructor Summary | |
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RemoteJoint(RemoteRobot robot,
RobotDefinitionResponse.JointDefinition def)
Creates a RemoteJoint with the given values. |
Method Summary | ||
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org.robokind.api.common.position.NormalizedDouble |
getDefaultPosition()
Returns the Joint's default position. |
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Boolean |
getEnabled()
If enabled, this Joint will accept move commands. |
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org.robokind.api.common.position.NormalizedDouble |
getGoalPosition()
Returns the goal position. |
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Joint.Id |
getId()
Returns the Joint's logical id. |
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String |
getName()
Returns the name of the Joint. |
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org.robokind.api.common.position.NormalizableRange<Double> |
getPositionRange()
Returns the NormalizableRange describing the range of motion. |
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Collection<JointProperty> |
getProperties()
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JointProperty |
getProperty(String name)
Returns the JointProperty with the given name. |
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getProperty(String name,
Class<T> propertyType)
Returns the JointProperty with the given name, ensuring the value is assignable to propertyType. |
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void |
setEnabled(Boolean enabled)
If enabled, this Joint will accept move commands. |
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protected void |
setGoalPosition(org.robokind.api.common.position.NormalizedDouble goal)
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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 |
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addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource |
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addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener |
Constructor Detail |
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public RemoteJoint(RemoteRobot robot, RobotDefinitionResponse.JointDefinition def)
robot
- RemoteRobot this RemoteJoint belongs todef
- JointDefinition for initializing this JointMethod Detail |
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public Joint.Id getId()
Joint
getId
in interface Joint
public String getName()
Joint
getName
in interface Joint
public org.robokind.api.common.position.NormalizedDouble getDefaultPosition()
Joint
getDefaultPosition
in interface Joint
protected void setGoalPosition(org.robokind.api.common.position.NormalizedDouble goal)
goal
- public org.robokind.api.common.position.NormalizedDouble getGoalPosition()
Joint
getGoalPosition
in interface Joint
public void setEnabled(Boolean enabled)
Joint
setEnabled
in interface Joint
public Boolean getEnabled()
Joint
getEnabled
in interface Joint
public Boolean updateEnabledStatus()
public <T> JointProperty<T> getProperty(String name, Class<T> propertyType)
Joint
getProperty
in interface Joint
T
- Value Type returned by the JointPropertyname
- name of the JointPropertypropertyType
- Class for T
public JointProperty getProperty(String name)
Joint
getProperty
in interface Joint
name
- name of the JointProperty
public org.robokind.api.common.position.NormalizableRange<Double> getPositionRange()
Joint
getPositionRange
in interface Joint
public Collection<JointProperty> getProperties()
getProperties
in interface Joint
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