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A
AbstractJoint
- Class in
org.robokind.api.motion
Abstract implementation providing much of the functionality need to implement various Joints.
AbstractJoint(Joint.Id)
- Constructor for class org.robokind.api.motion.
AbstractJoint
Creates a new AbstractJoint with the given Id.
AbstractJointGroup
<
Id
,
G
extends
JointGroup
,
J
extends
Joint
> - Class in
org.robokind.api.motion.utils
Abstract class providing common functionality for JointGroups.
AbstractJointGroup()
- Constructor for class org.robokind.api.motion.utils.
AbstractJointGroup
Creates an empty AbstractJointGroup
AbstractJointGroup(String, List<Id>, List<G>)
- Constructor for class org.robokind.api.motion.utils.
AbstractJointGroup
AbstractRobot
<
J
extends
Joint
> - Class in
org.robokind.api.motion
Provides common functionality for Robot implementations
AbstractRobot(Robot.Id)
- Constructor for class org.robokind.api.motion.
AbstractRobot
Creates an empty Robot with the given RobotId
AbstractServo
<
Id
,
Conf
extends
ServoConfig
<
Id
>,
Ctrl
extends
ServoController
<
Id
,
Conf
,? extends
AbstractServo
<
Id
,
Conf
,
Ctrl
>,? extends
ServoControllerConfig
<
Id
,
Conf
>>> - Class in
org.robokind.api.motion.servos
Abstract implementation providing much of the functionality need to implement various Servos.
AbstractServo(Conf, Ctrl)
- Constructor for class org.robokind.api.motion.servos.
AbstractServo
Creates a new AbstractServo from the given Servo configuration parameters and ServoController.
AbstractServoController
<
IdType
,
ServoConf
extends
ServoConfig
<
IdType
>,
S
extends
Servo
<
IdType
,
ServoConf
>,
ControllerConf
extends
ServoControllerConfig
<
IdType
,
ServoConf
>> - Class in
org.robokind.api.motion.servos
Provides common functionality for ServoControllers.
AbstractServoController(ControllerConf)
- Constructor for class org.robokind.api.motion.servos.
AbstractServoController
Creates a new AbstractServoController from the given config.
AbstractServoJointAdapter
<
S
extends
Servo
> - Class in
org.robokind.api.motion.servos.utils
Common functionality for ServoJointAdapters.
AbstractServoJointAdapter()
- Constructor for class org.robokind.api.motion.servos.utils.
AbstractServoJointAdapter
Activator
- Class in
org.robokind.api.motion.osgi
Activator()
- Constructor for class org.robokind.api.motion.osgi.
Activator
addControllerContext(ServoRobot.ServoControllerContext)
- Method in class org.robokind.api.motion.servos.config.
ServoRobotConfig
Adds a ServoControllerConfig to the RobotConfig.
addGroup(G)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
addGroup(GroupConfig)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
addGroup(G)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Add a child JointGroup.
addGroup(GroupConfig)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Add a child JointGroupConfig.
addingServo(ServoConf)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Called when a Servo is added to the underlying ServoControllerConfig.
addJoint(J)
- Method in class org.robokind.api.motion.
AbstractRobot
Adds the given Joint to the Robot.
addJointId(Id)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
addJointId(Id)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
addJointId(Id)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Adds a JointId to this JointGroup.
addJointId(Id)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Adds a JointId to the JointGroupConfig
addProperty(JointProperty)
- Method in class org.robokind.api.motion.
AbstractJoint
Adds a JointProperty to the Joint
addServo(ServoConf)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Add a Servo the ServoController.
addServoConfig(ServoConf)
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Adds a ServoConfig to the ServoControllerConfig.
addServoJoint(Joint.Id, ServoController.ServoId)
- Method in class org.robokind.api.motion.servos.config.
ServoRobotConfig
Add a Joint to the RobotConfig with the given id and name.
B
blend(long, long, Map<? extends MF, ? extends FS>)
- Method in interface org.robokind.api.motion.blending.
Blender
Uses the FrameCombiner to blend the given Frames, and sends the results to the BlenderOutput.
blend(long, long, Map<? extends MF, ? extends FS>)
- Method in class org.robokind.api.motion.blending.
DefaultBlender
Blender
<
MF
extends
MotionFrame
<
PosMap
>,
FS
extends
FrameSource
<
PosMap
>,
PosMap
extends
JointPositionMap
> - Interface in
org.robokind.api.motion.blending
Uses a FrameCombiner to blend move requests, and sends the results to a BlenderOutput.
BlenderOutput
<
PosMap
extends
JointPositionMap
> - Interface in
org.robokind.api.motion.blending
Defines the output of a blender.
build(ServoRobotConfig)
- Method in class org.robokind.api.motion.servos.utils.
ServoRobotConnector
C
changeServoId(ServoController.ServoId<IdType>, ServoController.ServoId<IdType>)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Called when the id of a Servo changes in the underlying ServoControllerConfig.
clearJoints()
- Method in class org.robokind.api.motion.
AbstractRobot
Removes all Joints from the Robot.
clearPositions()
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Clears all target positions and disables this MotionTargetFrameSource.
combineFrames(long, long, PosMap, Map<? extends F, ? extends B>)
- Method in interface org.robokind.api.motion.blending.
FrameCombiner
Combines Frames from FrameSources into a map of Joint positions.
combineFrames(long, long, PosMap, Map<? extends MotionFrame<PosMap>, ? extends FrameSource<PosMap>>)
- Method in class org.robokind.api.motion.blending.
NaiveMotionFrameAverager
Returns a JointPositionMap, averaging the goal positions from the given MotionFrames.
combineFrames(long, long, PosMap, Map<? extends MotionFrame<PosMap>, ? extends FrameSource<PosMap>>)
- Method in class org.robokind.api.motion.blending.
VelocityCombiner
connect()
- Method in interface org.robokind.api.motion.
Robot
The Robot will accept commands only after it is successfully connected.
connect()
- Method in interface org.robokind.api.motion.servos.
ServoController
Connects the ServoController to the underlying device to begin using.
connect()
- Method in class org.robokind.api.motion.servos.
ServoRobot
ConnectionStatus
- Enum in
org.robokind.api.motion.servos.utils
Enumeration defining Connection Statuses.
connectServo(ServoConf)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Called when a new Servo is being added.
containsId(ServoController.ServoId<IdType>)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
containsId(ServoController.ServoId<IdType>)
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns true if the controller contains a Servo for the given Servo id.
containsIds(Set<ServoController.ServoId<IdType>>)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
containsIds(Set<ServoController.ServoId<IdType>>)
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns true if the controller contains a Servo for each of the given Servo ids.
D
DEFAULT_BLENDER_INTERVAL
- Static variable in class org.robokind.api.motion.utils.
RobotUtils
Default milliseconds for a Blender interval
DefaultBlender
<
MF
extends
MotionFrame
<
PosMap
>,
FS
extends
FrameSource
<
PosMap
>,
PosMap
extends
JointPositionMap
> - Class in
org.robokind.api.motion.blending
Basic implementation of a Blender.
DefaultBlender()
- Constructor for class org.robokind.api.motion.blending.
DefaultBlender
DefaultJointGroupConfig
<
Id
,
GroupConfig
extends
JointGroupConfig
<
Id
,? extends
GroupConfig
>> - Class in
org.robokind.api.motion.utils
Default implementation of a JointGroupConfig
DefaultJointGroupConfig(String)
- Constructor for class org.robokind.api.motion.utils.
DefaultJointGroupConfig
Creates an empty DefaultJointGroupConfig with the given name.
DefaultJointGroupConfig(String, List<? extends Id>, List<? extends GroupConfig>)
- Constructor for class org.robokind.api.motion.utils.
DefaultJointGroupConfig
Creates a new DefaultJointGroupConfig with the given values
DefaultMotionFrame
<
PosMap
extends
JointPositionMap
> - Class in
org.robokind.api.motion.protocol
A DefaultMotionFrame describes the start and goal PositionSets for a set of \ Joints over an interval of time.
DefaultMotionFrame()
- Constructor for class org.robokind.api.motion.protocol.
DefaultMotionFrame
Creates an empty MotionFrame.
DefaultServoConfig
<
Id
> - Class in
org.robokind.api.motion.servos.config
Default implementation for ServoConfig.
DefaultServoConfig(Id, String, int, int, int)
- Constructor for class org.robokind.api.motion.servos.config.
DefaultServoConfig
Creates a new ServoConfig with the given parameters.
disconnect()
- Method in interface org.robokind.api.motion.
Robot
Disconnect the Robot.
disconnect()
- Method in interface org.robokind.api.motion.servos.
ServoController
Disconnects the underlying device, freeing any resources that have been locked.
disconnect()
- Method in class org.robokind.api.motion.servos.
ServoRobot
disconnectServo(ServoController.ServoId<IdType>)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Called when a Servo is being removed.
DISPLAY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadCurrentPosition
Name used for display purposes
DISPLAY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadLoad
Name used for display purposes
DISPLAY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadSpeed
Name used for display purposes
DISPLAY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadTemperature
Name used for display purposes
DISPLAY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadVoltage
Name used for display purposes
E
EmptyServoJoint
- Class in
org.robokind.api.motion.servos.utils
An Empty implementation of a ServoJoint, used for missing Servos.
EmptyServoJoint(Joint.Id, String, NormalizedDouble)
- Constructor for class org.robokind.api.motion.servos.utils.
EmptyServoJoint
Creates a new EmptyServoJoint with the given properties.
equals(Object)
- Method in class org.robokind.api.motion.
Joint.Id
equals(Object)
- Method in class org.robokind.api.motion.
Robot.Id
equals(Object)
- Method in class org.robokind.api.motion.
Robot.JointId
equals(Object)
- Method in class org.robokind.api.motion.servos.
ServoController.Id
equals(Object)
- Method in class org.robokind.api.motion.servos.
ServoController.ServoId
F
FrameCombiner
<
F
extends
MotionFrame
<
PosMap
>,
B
extends
FrameSource
<
PosMap
>,
PosMap
extends
JointPositionMap
> - Interface in
org.robokind.api.motion.blending
A FrameCombiner combines movement requests from multiple FrameSources into a single set of Joint movements.
FrameSource
<
PosMap
extends
JointPositionMap
> - Interface in
org.robokind.api.motion.protocol
A FrameSource provided desired movements to a robot.
FrameSourceTracker
<
F
extends
FrameSource
> - Interface in
org.robokind.api.motion.blending
Provides a List of FrameSources being tracked.
G
getAbsoluteGoalPosition()
- Method in class org.robokind.api.motion.servos.
AbstractServo
Returns the absolute goal position as used by the ServoController.
getCachedValue()
- Method in interface org.robokind.api.motion.
JointProperty
Returns the cached value for this JointProperty.
getConfig()
- Method in class org.robokind.api.motion.servos.
AbstractServo
getConfig()
- Method in class org.robokind.api.motion.servos.
AbstractServoController
getConfig()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo's configuration values.
getConfig()
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns the ServoController's ServoControllerConfig.
getConnectionStatus()
- Method in class org.robokind.api.motion.servos.
AbstractServoController
getConnectionStatus()
- Method in interface org.robokind.api.motion.servos.
ServoController
Return the current ConnectionStatus.
getController()
- Method in class org.robokind.api.motion.servos.
AbstractServo
getController()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo's parent ServoController.
getControllerContexts()
- Method in class org.robokind.api.motion.servos.config.
ServoRobotConfig
Returns the RobotConfig's JointControllerConnections.
getControllerId()
- Method in class org.robokind.api.motion.servos.
ServoController.ServoId
Returns the value of the Id.
getControllerList()
- Method in class org.robokind.api.motion.servos.
ServoRobot
Returns a List of ServoControllers.
getControllers()
- Method in class org.robokind.api.motion.servos.
ServoRobot
Returns an unmodifiable Map of ServoController.Ids and ServoControllers.
getControllerTypeVersion()
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Returns ControllerType VersionProperty.
getCurrentPositions()
- Method in class org.robokind.api.motion.
AbstractRobot
getCurrentPositions()
- Method in interface org.robokind.api.motion.
Robot
Returns a map of the Robot's Joint's ids and their current positions.
getCurrentPositions(BundleContext, Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Returns a RobotPositionMap of the current positions for the Robot with the given Id.
getDefaultPosition()
- Method in interface org.robokind.api.motion.
Joint
Returns the Joint's default position.
getDefaultPosition()
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Returns the Servo default position.
getDefaultPosition()
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Returns the Servo default position.
getDefaultPosition()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo default position.
getDefaultPosition()
- Method in class org.robokind.api.motion.servos.
ServoJoint
getDefaultPositions()
- Method in class org.robokind.api.motion.
AbstractRobot
getDefaultPositions()
- Method in interface org.robokind.api.motion.
Robot
Returns a map of the Robot's Joint's ids and their default positions.
getDefaultPositions(BundleContext, Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Returns a RobotPositionMap of the default positions for the Robot with the given Id.
getDestinationId()
- Method in interface org.robokind.api.motion.protocol.
MotionFrameEvent
Returns the id String for the destination of the MotionFrameEvent.
getDisplayName()
- Method in class org.robokind.api.motion.joint_properties.
ReadCurrentPosition
getDisplayName()
- Method in class org.robokind.api.motion.joint_properties.
ReadLoad
getDisplayName()
- Method in class org.robokind.api.motion.joint_properties.
ReadSpeed
getDisplayName()
- Method in class org.robokind.api.motion.joint_properties.
ReadTemperature
getDisplayName()
- Method in class org.robokind.api.motion.joint_properties.
ReadVoltage
getDisplayName()
- Method in interface org.robokind.api.motion.
JointProperty
Returns the display name of the JointProperty.
getEnabled()
- Method in interface org.robokind.api.motion.
Joint
If enabled, this Joint will accept move commands.
getEnabled()
- Method in interface org.robokind.api.motion.servos.
Servo
If enabled, this Servo will accept move commands.
getEnabled()
- Method in interface org.robokind.api.motion.servos.
ServoController
If enabled, this ServoController should accept move commands.
getEnabled()
- Method in class org.robokind.api.motion.servos.
ServoJoint
getEnabled()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getEnabled()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getEnabled()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the enabled state
getEnabled()
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns the default enabled state
getEnabled()
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Returns true if enabled
getErrorMessages()
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns the current error messages.
getFrameCombiner()
- Method in interface org.robokind.api.motion.blending.
Blender
Returns the Blender's FrameCombiner.
getFrameCombiner()
- Method in class org.robokind.api.motion.blending.
DefaultBlender
getFrameLengthMillisec()
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Returns the interval for the movements.
getFrameLengthMillisec()
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Returns the interval for the movements.
getFrameSourceTracker()
- Method in class org.robokind.api.motion.blending.
TimedBlenderDriver
Returns the FrameSourceTracker uses.
getGoalPosition()
- Method in interface org.robokind.api.motion.
Joint
Returns the goal position.
getGoalPosition()
- Method in class org.robokind.api.motion.servos.
AbstractServo
getGoalPosition()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the goal position.
getGoalPosition()
- Method in class org.robokind.api.motion.servos.
ServoJoint
getGoalPositions()
- Method in class org.robokind.api.motion.
AbstractRobot
getGoalPositions()
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Returns the MotionFrame's goal JointPositionMap.
getGoalPositions()
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Returns the MotionFrame's goal JointPositionMap.
getGoalPositions()
- Method in interface org.robokind.api.motion.
Robot
Returns a map of the Robot's Joint's ids and their goal positions.
getGoalPositions(BundleContext, Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Returns a RobotPositionMap of the goal positions for the Robot with the given Id.
getGroupCount()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getGroupCount()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getGroupCount()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Return the number of child JointGroups.
getGroupCount()
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Return the number of child JointGroupConfigs.
getId()
- Method in class org.robokind.api.motion.
AbstractJoint
getId()
- Method in interface org.robokind.api.motion.
Joint
Returns the Joint's logical id.
getId()
- Method in class org.robokind.api.motion.servos.
AbstractServo
getId()
- Method in class org.robokind.api.motion.servos.
AbstractServoController
getId()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo's id.
getId()
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns the ServoController.Id identifying this ServoController.
getIdMap()
- Method in class org.robokind.api.motion.servos.config.
ServoRobotConfig
Returns a Map of JointIds and their Corresponding ServoIds.
getJoint(Robot.JointId)
- Method in class org.robokind.api.motion.
AbstractRobot
getJoint(Robot.JointId)
- Method in interface org.robokind.api.motion.
Robot
Return the Joint with the given id.
getJoint(Joint.Id, S)
- Method in class org.robokind.api.motion.servos.utils.
AbstractServoJointAdapter
Creates a ServoJoint with the given Joint.Id, Servo, and default JointProperties returned by getJointProperties
getJoint(Joint.Id, S)
- Method in interface org.robokind.api.motion.servos.utils.
ServoJointAdapter
Creates a ServoJoint with the given Joint.Id and Servo
getJoint(int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
Returns the Joint at the given index, or null if out of bounds.
getJoint(int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the Joint at the given index.
getJointById(Id)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
Retrieves a Joint with the given jointId.
getJointCount()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getJointCount()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getJointCount()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the number of JointIds for this JointGroup.
getJointCount()
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns the number of JointIds for this JointGroupConfig.
getJointGroup(int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getJointGroup(int)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getJointGroup(int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the child JointGroup at the given index.
getJointGroup(int)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns the child JointGroupConfig at the given index.
getJointGroups()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getJointGroups()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getJointGroups()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns a List of the children JointGroups.
getJointGroups()
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns a List of the children JointGroupConfigs.
getJointId()
- Method in class org.robokind.api.motion.
Robot.JointId
Returns the value of the Id.
getJointId(int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getJointId(int)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getJointId(int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the JointId at the given index.
getJointId(int)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns the JointId at the given index.
getJointIds()
- Method in class org.robokind.api.motion.
AbstractRobot
getJointIds()
- Method in interface org.robokind.api.motion.
Robot
Returns a set of the Robot's Joint ids.
getJointIds()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getJointIds()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getJointIds()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns a List of JointIds for this JointGroup
getJointIds()
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns a List of JointIds for this JointGroup
getJointList()
- Method in class org.robokind.api.motion.
AbstractRobot
getJointList()
- Method in interface org.robokind.api.motion.
Robot
Returns a List of the Robot's Joints.
getJointName(Robot.JointId)
- Method in class org.robokind.api.motion.
AbstractRobot
getJointName(Robot.JointId)
- Method in interface org.robokind.api.motion.
Robot
The Robot's name for the Joint with the given logical id.
getJointNames()
- Method in class org.robokind.api.motion.
AbstractRobot
getJointNames()
- Method in interface org.robokind.api.motion.
Robot
Returns a map of the Robot's Joint's ids and their names.
getJointNames(BundleContext, Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Returns a RobotPositionMap of the Joint names for the Robot with the given Id.
getJointProperties(S)
- Method in class org.robokind.api.motion.servos.utils.
AbstractServoJointAdapter
Returns the default JointProperties for a new ServoJoint.
getJoints()
- Method in class org.robokind.api.motion.
AbstractRobot
getJoints()
- Method in interface org.robokind.api.motion.
Robot
Returns a map of the Robot's Joints and their ids.
getJoints()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
Returns a List of Joints belonging to this JointGroup.
getJoints()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the Joints belonging to this JointGroup.
getLogicalJointNumber()
- Method in class org.robokind.api.motion.
Joint.Id
Returns the value of the Id.
getMaxPosition()
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Returns the Servo maximum position.
getMaxPosition()
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Returns the Servo maximum position.
getMaxPosition()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo maximum position.
getMinPosition()
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Returns the Servo minimum position.
getMinPosition()
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Returns the Servo minimum position.
getMinPosition()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo minimum position.
getMotionFrame()
- Method in interface org.robokind.api.motion.protocol.
MotionFrameEvent
Returns the MotionFrame associated with this MotionFrameEvent.
getMovements(long, long)
- Method in interface org.robokind.api.motion.protocol.
FrameSource
Returns the desired Robot movement starting at the given time and lasting for the given number of milliseconds.
getMovements(long, long)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Creates a MotionFrame starting at the Robot's goal positions, and moving towards the target positions as much as the velocity will allow in the given time interval.
getMovements(long, long)
- Method in class org.robokind.api.motion.utils.
RobotFrameSource
getName()
- Method in interface org.robokind.api.motion.
Joint
Returns the name of the Joint.
getName()
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Returns the Servo name.
getName()
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Returns the Servo name.
getName()
- Method in interface org.robokind.api.motion.servos.
Servo
Returns the Servo name.
getName()
- Method in class org.robokind.api.motion.servos.
ServoJoint
getName()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
getName()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
getName()
- Method in interface org.robokind.api.motion.utils.
JointGroup
Returns the name to use
getName()
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Returns the name to use
getPositions()
- Method in interface org.robokind.api.motion.blending.
BlenderOutput
Get the last output positions.
getPositions()
- Method in class org.robokind.api.motion.blending.
RobotOutput
getPreviousPositions()
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Returns the MotionFrame's previous JointPositionMap.
getPreviousPositions()
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Returns the MotionFrame's previous JointPositionMap.
getProperty(String, Class<T>)
- Method in class org.robokind.api.motion.
AbstractJoint
getProperty(String)
- Method in class org.robokind.api.motion.
AbstractJoint
getProperty(String, Class<T>)
- Method in interface org.robokind.api.motion.
Joint
Returns the JointProperty with the given name, ensuring the value is assignable to propertyType.
getProperty(String)
- Method in interface org.robokind.api.motion.
Joint
Returns the JointProperty with the given name.
getPropertyClass()
- Method in class org.robokind.api.motion.joint_properties.
ReadCurrentPosition
getPropertyClass()
- Method in class org.robokind.api.motion.joint_properties.
ReadLoad
getPropertyClass()
- Method in class org.robokind.api.motion.joint_properties.
ReadSpeed
getPropertyClass()
- Method in class org.robokind.api.motion.joint_properties.
ReadTemperature
getPropertyClass()
- Method in class org.robokind.api.motion.joint_properties.
ReadVoltage
getPropertyClass()
- Method in interface org.robokind.api.motion.
JointProperty
Returns the JointProperty's value Type.
getPropertyName()
- Method in class org.robokind.api.motion.joint_properties.
ReadCurrentPosition
getPropertyName()
- Method in class org.robokind.api.motion.joint_properties.
ReadLoad
getPropertyName()
- Method in class org.robokind.api.motion.joint_properties.
ReadSpeed
getPropertyName()
- Method in class org.robokind.api.motion.joint_properties.
ReadTemperature
getPropertyName()
- Method in class org.robokind.api.motion.joint_properties.
ReadVoltage
getPropertyName()
- Method in interface org.robokind.api.motion.
JointProperty
Returns the name of the JointProperty.
getReadable()
- Method in interface org.robokind.api.motion.
JointProperty
Returns true if getValue() is supported.
getReadable()
- Method in class org.robokind.api.motion.
JointProperty.ReadOnly
getReadable()
- Method in class org.robokind.api.motion.
JointProperty.ReadWrite
getRobotFilter(Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Returns an OSGi filter String for matching the given Robot.Id.
getRobotFilter(Robot.Id, String)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Returns an OSGi filter String for matching the given Robot.Id.
getRobotId()
- Method in class org.robokind.api.motion.
AbstractRobot
getRobotId()
- Method in interface org.robokind.api.motion.
Robot
Returns a String uniquely identifying this Robot.
getRobotId()
- Method in class org.robokind.api.motion.
Robot.JointId
Returns the value of the Id.
getRobotId()
- Method in class org.robokind.api.motion.servos.config.
ServoRobotConfig
Returns the Id.
getRobotId()
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Returns the Id used by this MotionTargetFrameSource.
getRobotId()
- Method in class org.robokind.api.motion.utils.
RobotFrameSource
Returns the Robot Id
getRobotReference(BundleContext, Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Finds ServiceReferences for a Robot with the given id.
getRobtIdString()
- Method in class org.robokind.api.motion.
Robot.Id
Returns the String value of this Robot.Id.
getServiceClass()
- Method in class org.robokind.api.motion.servos.utils.
ServoRobotConnector
getServiceConfigurationClass()
- Method in class org.robokind.api.motion.servos.utils.
ServoRobotConnector
getServiceVersion()
- Method in class org.robokind.api.motion.servos.utils.
ServoRobotConnector
getServo(ServoController.ServoId<IdType>)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
getServo(ServoController.ServoId<IdType>)
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns the Servo with the given id.
getServo()
- Method in class org.robokind.api.motion.servos.
ServoJoint
getServoConfigs()
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Returns a map of ids and ServoConfigs.
getServoController()
- Method in class org.robokind.api.motion.servos.
ServoRobot.ServoControllerContext
Returns the ServoControllerContext's ServoController
getServoControllerId()
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Returns the Id of the ServoController.
getServoControllerId()
- Method in class org.robokind.api.motion.servos.
ServoRobot.ServoControllerContext
Returns the associated ServoController.Id
getServoCount()
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Returns the number of Servos in the ServoControllerConfig.
getServoId()
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Returns the Servo id.
getServoId()
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Returns the Servo id.
getServoId()
- Method in class org.robokind.api.motion.servos.
ServoController.ServoId
Returns the value of the Id.
getServoIdClass()
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns the Class of the Id used by the ServoController's Servos.
getServoIdClass()
- Method in interface org.robokind.api.motion.servos.utils.
ServoIdReader
Returns the Class of the Id Type read by this ServoIdReader.
getServoJointAdapter()
- Method in class org.robokind.api.motion.servos.
ServoRobot.ServoControllerContext
Returns the associated JointAdapter
getServos()
- Method in class org.robokind.api.motion.servos.
AbstractServoController
getServos()
- Method in interface org.robokind.api.motion.servos.
ServoController
Returns a List of the controller's Servos.
getSourceId()
- Method in interface org.robokind.api.motion.protocol.
MotionFrameEvent
Returns the id String for the source of the MotionFrameEvent.
getSources()
- Method in interface org.robokind.api.motion.blending.
FrameSourceTracker
Returns a List of tracked FrameSources.
getSources()
- Method in class org.robokind.api.motion.blending.
OSGiFrameSourceTracker
getStopOnGoalFlag()
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Returns the StopOnGoalFlag.
getTimestampMillisecUTC()
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Returns MotionFrame creation time.
getTimestampMillisecUTC()
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Returns MotionFrame creation time.
getTimestampMillisecUTC()
- Method in interface org.robokind.api.motion.protocol.
MotionFrameEvent
Returns the timestamp of the MotionFrameEvent.
getValue()
- Method in interface org.robokind.api.motion.
JointProperty
Returns the value for this JointProperty, and caches the value.
getVelocity()
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Returns the velocity, measured as (change in NormalizedDouble)/millisecond
getWriteable()
- Method in interface org.robokind.api.motion.
JointProperty
Returns true if setValue(T val) is supported.
getWriteable()
- Method in class org.robokind.api.motion.
JointProperty.ReadOnly
getWriteable()
- Method in class org.robokind.api.motion.
JointProperty.ReadWrite
H
hashCode()
- Method in class org.robokind.api.motion.
Joint.Id
hashCode()
- Method in class org.robokind.api.motion.
Robot.Id
hashCode()
- Method in class org.robokind.api.motion.
Robot.JointId
hashCode()
- Method in class org.robokind.api.motion.servos.
ServoController.Id
hashCode()
- Method in class org.robokind.api.motion.servos.
ServoController.ServoId
I
init(BundleContext, String)
- Method in class org.robokind.api.motion.blending.
OSGiFrameSourceTracker
Initializes the tracking to begin tracking FrameSources.
initialize()
- Method in class org.robokind.api.motion.servos.
ServoRobot.ServoControllerContext
Initializes the ServoControllerContext, creating the ServoController.
insertGroup(G, int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
insertGroup(GroupConfig, int)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
insertGroup(G, int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Add a child JointGroup at the given index.
insertGroup(GroupConfig, int)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Add a child JointGroupConfig at the given index.
insertJointId(Id, int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
insertJointId(Id, int)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
insertJointId(Id, int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Adds a JointId to this JointGroup at the given index.
insertJointId(Id, int)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Adds a JointId at the given index
isConnected()
- Method in interface org.robokind.api.motion.
Robot
Returns true if the Robot is connected.
isConnected()
- Method in class org.robokind.api.motion.servos.
ServoRobot
isEnabled()
- Method in class org.robokind.api.motion.
AbstractRobot
Returns true if the Robot is enabled and accepting commands.
isEnabled()
- Method in interface org.robokind.api.motion.
Robot
Returns true if the Robot is enabled and accepting commands.
isRobotIdAvailable(BundleContext, Robot.Id)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Checks if the given robotId is available to use.
J
Joint
- Interface in
org.robokind.api.motion
A Joint represents the values and properties of a DoF (degree of freedom) of a Robot.
Joint.Id
- Class in
org.robokind.api.motion
Joint.Id is an immutable identifier for a Joint within a Robot or ServoController.
Joint.Id(int)
- Constructor for class org.robokind.api.motion.
Joint.Id
Creates a Id from the given integer id.
JointGroup
<
Id
,
G
extends
JointGroup
,
J
extends
Joint
> - Interface in
org.robokind.api.motion.utils
JointGroups give a hierarchical view of a set of Joints.
JointGroupConfig
<
Id
,
GroupConfig
extends
JointGroupConfig
<
Id
,? extends
GroupConfig
>> - Interface in
org.robokind.api.motion.utils
Common interface for JointGroup configurations.
JointPositionMap
<
LogicalJointId
,
Position
extends org.robokind.api.common.position.NormalizedDouble> - Interface in
org.robokind.api.motion.protocol
A JointPositionMap is a PositionMap of Joint Identifiers and Normalized Positions.
JointPositionMap.HashMap
<
Id
,
Pos
extends org.robokind.api.common.position.NormalizedDouble> - Class in
org.robokind.api.motion.protocol
JointPositionMap backed by a HashMap.
JointPositionMap.HashMap()
- Constructor for class org.robokind.api.motion.protocol.
JointPositionMap.HashMap
JointProperty
<
T
> - Interface in
org.robokind.api.motion
Defines additional properties or capabilities of a given Joint, such as \ position feedback or moving speed.
JointProperty.ReadOnly
<
T
> - Class in
org.robokind.api.motion
Defines a JointProperty which can read but not write.
JointProperty.ReadOnly()
- Constructor for class org.robokind.api.motion.
JointProperty.ReadOnly
JointProperty.ReadWrite
<
T
> - Class in
org.robokind.api.motion
Defines a JointProperty which can read and write.
JointProperty.ReadWrite()
- Constructor for class org.robokind.api.motion.
JointProperty.ReadWrite
M
MotionFrame
<
PosMap
extends
JointPositionMap
> - Interface in
org.robokind.api.motion.protocol
A MotionFrame describes the start and goal PositionSets for a set of Joints \ over an interval of time.
MotionFrameEvent
- Interface in
org.robokind.api.motion.protocol
A MotionFrame with messaging metadata.
move(Robot.RobotPositionMap, long)
- Method in interface org.robokind.api.motion.
Robot
Move the Joints with the given ids to the corresponding positions.
move(Robot.RobotPositionMap, long)
- Method in class org.robokind.api.motion.servos.
ServoRobot
move(Robot.RobotPositionMap, long)
- Method in class org.robokind.api.motion.utils.
RobotFrameSource
Moves the Robot to the given positions in the given time length.
moveAllServos(long)
- Method in interface org.robokind.api.motion.servos.
ServoController
Move all of the controller's Servos.
moveServo(ServoController.ServoId<IdType>, long)
- Method in interface org.robokind.api.motion.servos.
ServoController
Move the Servo with the given Servo id to its goal position in the given time.
moveServos(ServoController.ServoId<IdType>[], int, int, long)
- Method in interface org.robokind.api.motion.servos.
ServoController
Move the Servos with the given Servo ids to their goal positions.
myChangeMonitor
- Variable in class org.robokind.api.motion.servos.
AbstractServoController
The Controllers's PropertyChangeMonitor to listen for changes in Servos and configs.
myConfig
- Variable in class org.robokind.api.motion.servos.
AbstractServo
The Servo's configuration parameters.
myConfig
- Variable in class org.robokind.api.motion.servos.
AbstractServoController
ServoController's Confgiuration parameters.
myConnectionStatus
- Variable in class org.robokind.api.motion.servos.
AbstractServoController
The Controller's ConnectionStatus.
myController
- Variable in class org.robokind.api.motion.servos.
AbstractServo
The Servo's parent ServoController.
myGoalPosition
- Variable in class org.robokind.api.motion.servos.
AbstractServo
The Servo's current goal position.
myGroups
- Variable in class org.robokind.api.motion.utils.
AbstractJointGroup
Child JointGroups
myJointIds
- Variable in class org.robokind.api.motion.utils.
AbstractJointGroup
JointIds used by this JointGroup
myJointList
- Variable in class org.robokind.api.motion.
AbstractRobot
List of Joints to preserve order
myJointMap
- Variable in class org.robokind.api.motion.
AbstractRobot
Map of the Robot's JointIds and Joints.
myName
- Variable in class org.robokind.api.motion.utils.
AbstractJointGroup
Name of this JointGroup
myProperties
- Variable in class org.robokind.api.motion.
AbstractJoint
JointProperties available from this Joint
myServo
- Variable in class org.robokind.api.motion.servos.
ServoJoint
The ServoJoint's Servo
myServoId
- Variable in class org.robokind.api.motion.servos.
AbstractServo
The Servo's Id
myServoMap
- Variable in class org.robokind.api.motion.servos.
AbstractServoController
Map of the Controller's Servos and their ids.
myServos
- Variable in class org.robokind.api.motion.servos.
AbstractServoController
List of the Coontroller's Servos.
N
NaiveMotionFrameAverager
<
Id
,
PosMap
extends
JointPositionMap
<
Id
,org.robokind.api.common.position.NormalizedDouble>> - Class in
org.robokind.api.motion.blending
NaiveMotionFrameAverager(Factory<PosMap>)
- Constructor for class org.robokind.api.motion.blending.
NaiveMotionFrameAverager
O
org.robokind.api.motion
- package org.robokind.api.motion
org.robokind.api.motion.blending
- package org.robokind.api.motion.blending
org.robokind.api.motion.joint_properties
- package org.robokind.api.motion.joint_properties
org.robokind.api.motion.osgi
- package org.robokind.api.motion.osgi
org.robokind.api.motion.protocol
- package org.robokind.api.motion.protocol
org.robokind.api.motion.servos
- package org.robokind.api.motion.servos
org.robokind.api.motion.servos.config
- package org.robokind.api.motion.servos.config
org.robokind.api.motion.servos.utils
- package org.robokind.api.motion.servos.utils
org.robokind.api.motion.utils
- package org.robokind.api.motion.utils
OSGiFrameSourceTracker
- Class in
org.robokind.api.motion.blending
FrameSourceTracker for tracking FrameSources registered to the OSGi registry.
OSGiFrameSourceTracker()
- Constructor for class org.robokind.api.motion.blending.
OSGiFrameSourceTracker
Creates a new OSGiFrameSourceTracker.
OSGiFrameSourceTracker(String)
- Constructor for class org.robokind.api.motion.blending.
OSGiFrameSourceTracker
Creates a new OSGiFrameSourceTracker which tracks services registered under the given class name.
P
PositionTargetFrameSource
- Class in
org.robokind.api.motion.utils
A FrameSource which moves the Joints of a Robot towards a set of target positions with a limited velocity.
PositionTargetFrameSource(BundleContext, Robot.Id, double, Robot.RobotPositionMap)
- Constructor for class org.robokind.api.motion.utils.
PositionTargetFrameSource
Creates a new MotionTargetFrameSource
PROP_ADD_JOINT_GROUP
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for adding a child JointGroup
PROP_ADD_JOINT_GROUP
- Static variable in interface org.robokind.api.motion.utils.
JointGroupConfig
Property String for adding a child JointGroup
PROP_ADD_JOINT_ID
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for adding a JointId
PROP_ADD_JOINT_ID
- Static variable in interface org.robokind.api.motion.utils.
JointGroupConfig
Property String for adding a JointId
PROP_CONNECTION_STATUS
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Property string for ConnectionStatus.
PROP_CONTROLLER_TYPE
- Static variable in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Property string for the ServoControllerConfig ControllerTypeVersion.
PROP_DEF_POSITION
- Static variable in interface org.robokind.api.motion.servos.config.
ServoConfig
Property string for Servo default position.
PROP_ENABLED
- Static variable in interface org.robokind.api.motion.
Joint
Property string for Enabled.
PROP_ENABLED
- Static variable in interface org.robokind.api.motion.servos.
Servo
Property string for Enabled.
PROP_ENABLED
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Property string for Enabled.
PROP_ENABLED
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for enabled
PROP_ENABLED
- Static variable in interface org.robokind.api.motion.utils.
JointGroupConfig
Property String for enabled
PROP_ERROR_MESSAGES
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Property string for ErrorMessages.
PROP_GOAL_POSITION
- Static variable in interface org.robokind.api.motion.
Joint
Property string for GoalPostion.
PROP_GOAL_POSITION
- Static variable in interface org.robokind.api.motion.servos.
Servo
Property string for GoalPostion.
PROP_ID
- Static variable in interface org.robokind.api.motion.
Robot
Property String for the Id.
PROP_ID
- Static variable in interface org.robokind.api.motion.servos.config.
ServoConfig
Property string for Servo logical id.
PROP_JOINT_CHANGED
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for changing a joint
PROP_MAX_POSITION
- Static variable in interface org.robokind.api.motion.servos.config.
ServoConfig
Property string for Servo maximum position.
PROP_MIN_POSITION
- Static variable in interface org.robokind.api.motion.servos.config.
ServoConfig
Property string for Servo minimum position.
PROP_NAME
- Static variable in interface org.robokind.api.motion.servos.config.
ServoConfig
Property string for Servo name.
PROP_NAME
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for name
PROP_NAME
- Static variable in interface org.robokind.api.motion.utils.
JointGroupConfig
Property String for name
PROP_REMOVE_JOINT_GROUP
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for removing a child JointGroup
PROP_REMOVE_JOINT_GROUP
- Static variable in interface org.robokind.api.motion.utils.
JointGroupConfig
Property String for removing a child JointGroup
PROP_REMOVE_JOINT_ID
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for removing a JointId
PROP_REMOVE_JOINT_ID
- Static variable in interface org.robokind.api.motion.utils.
JointGroupConfig
Property String for removing a JointId
PROP_SERVO_ADD
- Static variable in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Property string for the ServoControllerConfig AddServo.
PROP_SERVO_ADD
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Property string for AddServo.
PROP_SERVO_REMOVE
- Static variable in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Property string for the ServoControllerConfig RemoveServo.
PROP_SERVO_REMOVE
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Property string for RemoveServo.
PROP_SERVOS
- Static variable in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Property string for the ServoControllerConfig Servos.
PROP_SERVOS
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Property string for Servos.
PROP_STRUCTURE_CHANGED
- Static variable in interface org.robokind.api.motion.utils.
JointGroup
Property String for changing the structure of this JointGroup
PROP_VERSION
- Static variable in interface org.robokind.api.motion.servos.
ServoController
Used to specify the VersionProperty of a type of ServoController.
PROPERTY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadCurrentPosition
JointProperty Property Name
PROPERTY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadLoad
JointProperty Property Name
PROPERTY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadSpeed
JointProperty Property Name
PROPERTY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadTemperature
JointProperty Property Name
PROPERTY_NAME
- Static variable in class org.robokind.api.motion.joint_properties.
ReadVoltage
JointProperty Property Name
propertyChange(PropertyChangeEvent)
- Method in class org.robokind.api.motion.
AbstractJoint
Used to broadcast PropertyChangeEvents from internal sources such as JointProperties or, in the case of a ServoJoint, a Servo.
propertyChange(PropertyChangeEvent)
- Method in class org.robokind.api.motion.servos.
AbstractServo
putPosition(Robot.JointId, NormalizedDouble)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Set the target position for the given JointId and enables this MotionTargetFrameSource.
putPositions(Robot.RobotPositionMap)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Puts the given positions in the target position map and enables this MotionTargetFrameSource.
R
read(ServoController.Id, String)
- Method in interface org.robokind.api.motion.servos.utils.
ServoIdReader
Reads and parses a String into the Id Type, and returns a ServoController.ServoId.
read(String)
- Method in interface org.robokind.api.motion.servos.utils.
ServoIdReader
Reads and parses a String into the Id Type
ReadCurrentPosition
- Class in
org.robokind.api.motion.joint_properties
ReadCurrentPosition()
- Constructor for class org.robokind.api.motion.joint_properties.
ReadCurrentPosition
ReadLoad
- Class in
org.robokind.api.motion.joint_properties
ReadLoad()
- Constructor for class org.robokind.api.motion.joint_properties.
ReadLoad
ReadSpeed
- Class in
org.robokind.api.motion.joint_properties
ReadSpeed()
- Constructor for class org.robokind.api.motion.joint_properties.
ReadSpeed
ReadTemperature
- Class in
org.robokind.api.motion.joint_properties
ReadTemperature()
- Constructor for class org.robokind.api.motion.joint_properties.
ReadTemperature
ReadVoltage
- Class in
org.robokind.api.motion.joint_properties
ReadVoltage()
- Constructor for class org.robokind.api.motion.joint_properties.
ReadVoltage
registerFrameSource(BundleContext, Robot.Id, FrameSource)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Registers a FrameSource using the given Robot.Id as a property.
registerRobot(BundleContext, Robot, Properties)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Adds a Robot to the OSGi ServiceRegistry with the robotId as a service property.
removeGroup(G)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
removeGroup(GroupConfig)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
removeGroup(G)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Removes a child JointGroup.
removeGroup(GroupConfig)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Removes a child JointGroupConfig.
removeGroupAt(int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
removeGroupAt(int)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
removeGroupAt(int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Removes a child JointGroup at the given index.
removeGroupAt(int)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Removes a child JointGroupConfig at the given index.
removeJoint(J)
- Method in class org.robokind.api.motion.
AbstractRobot
Removes the given Joint from the Robot.
removeJointId(Id)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
removeJointId(Id)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
removeJointId(Id)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Removes a JointId
removeJointId(Id)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Removes a JointId
removeJointIdAt(int)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
removeJointIdAt(int)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
removeJointIdAt(int)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Removes the JointId with the given index.
removeJointIdAt(int)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Removes the JointId with the given index.
removeProperty(JointProperty)
- Method in class org.robokind.api.motion.
AbstractJoint
Removes a JointProperty from the Joint
removeServo(S)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Remove a Servo from the ServoController.
removeServoConfig(ServoConf)
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Removes a ServoConfig from the ServoControllerConfig.
removingServo(ServoController.ServoId<IdType>)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Called when a Servo is removed from the underlying ServoControllerConfig.
Robot
- Interface in
org.robokind.api.motion
A Robot provides access to a List of Joints backed by a List of JointControllers.
Robot.Id
- Class in
org.robokind.api.motion
Id is an immutable globally unique identifier for a Robot.
Robot.Id(String)
- Constructor for class org.robokind.api.motion.
Robot.Id
Robot.JointId
- Class in
org.robokind.api.motion
JointId is an immutable globally unique identifier for a Joint belonging to a Robot.
Robot.JointId(Robot.Id, Joint.Id)
- Constructor for class org.robokind.api.motion.
Robot.JointId
Creates a new Robot.JointId with the given Robot.Id and Joint.Id.
Robot.RobotPositionHashMap
- Class in
org.robokind.api.motion
RobotPositionMap backed by java.util.HashMap.
Robot.RobotPositionHashMap()
- Constructor for class org.robokind.api.motion.
Robot.RobotPositionHashMap
Robot.RobotPositionHashMap(int)
- Constructor for class org.robokind.api.motion.
Robot.RobotPositionHashMap
Robot.RobotPositionHashMap(int, float)
- Constructor for class org.robokind.api.motion.
Robot.RobotPositionHashMap
Robot.RobotPositionHashMap(Map<? extends Robot.JointId, ? extends NormalizedDouble>)
- Constructor for class org.robokind.api.motion.
Robot.RobotPositionHashMap
Robot.RobotPositionMap
- Interface in
org.robokind.api.motion
RobotPositionMap expected by the Robot.
RobotFrameSource
- Class in
org.robokind.api.motion.utils
A FrameSource which acts as a Robot move proxy.
RobotFrameSource(BundleContext, Robot.Id)
- Constructor for class org.robokind.api.motion.utils.
RobotFrameSource
RobotOutput
- Class in
org.robokind.api.motion.blending
A BlenderOutput implementation which sends Blender movements to a List of Robots.
RobotOutput(BundleContext, Robot.Id)
- Constructor for class org.robokind.api.motion.blending.
RobotOutput
Creates an empty RobotOutput.
RobotUtils
- Class in
org.robokind.api.motion.utils
Common Utility methods for the Motion API
RobotUtils()
- Constructor for class org.robokind.api.motion.utils.
RobotUtils
S
Servo
<
Id
,
Conf
extends
ServoConfig
> - Interface in
org.robokind.api.motion.servos
A Servo provides control of a physical servo belonging to a servo control board.
ServoConfig
<
Id
> - Interface in
org.robokind.api.motion.servos.config
Configuration parameters defining a Servo.
ServoController
<
IdType
,
ServoConf
extends
ServoConfig
<
IdType
>,
ServoType
extends
Servo
<
IdType
,
ServoConf
>,
ControllerConf
extends
ServoControllerConfig
<
IdType
,
ServoConf
>> - Interface in
org.robokind.api.motion.servos
A ServoController provides control of a collection of Servos and the means of directly controlling them.
ServoController.Id
- Class in
org.robokind.api.motion.servos
Id is an immutable globally unique identifier for a ServoController.
ServoController.Id(String)
- Constructor for class org.robokind.api.motion.servos.
ServoController.Id
Creates a ServoController.Id from the given String
ServoController.ServoId
<
ServoIdType
> - Class in
org.robokind.api.motion.servos
ServoId is an immutable globally unique identifier for a Servo belonging to a Controller.
ServoController.ServoId(ServoController.Id, ServoIdType)
- Constructor for class org.robokind.api.motion.servos.
ServoController.ServoId
Creates a ServoController.ServoId from the given ServoController.Id and Servo Id.
ServoControllerConfig
<
Id
,
ServoConf
extends
ServoConfig
<
Id
>> - Interface in
org.robokind.api.motion.servos.config
Parameters needed to initialize a ServoController.
servoId(IdType)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Creates a ServoController.ServoId from this ServoController's Id and a Servo's Id
ServoIdReader
<
Id
> - Interface in
org.robokind.api.motion.servos.utils
A ServoIdReader is used to parse a String into a specific Id Type.
ServoJoint
<
S
extends
Servo
> - Class in
org.robokind.api.motion.servos
ServoJoint(Joint.Id, S, List<JointProperty>)
- Constructor for class org.robokind.api.motion.servos.
ServoJoint
Creates a new ServoJoint
ServoJointAdapter
<
S
extends
Servo
,
J
extends
ServoJoint
> - Interface in
org.robokind.api.motion.servos.utils
A ServoJointAdapter is used by a ServoRobot to create ServoJoints from Servos.
ServoRobot
- Class in
org.robokind.api.motion.servos
Robot implementation using Servos.
ServoRobot(ServoRobotConfig)
- Constructor for class org.robokind.api.motion.servos.
ServoRobot
Creates a new ServoRobot with the given BundleContext and RobotConfig.
ServoRobot.ServoControllerContext
<
T
extends
Servo
<?,?>> - Class in
org.robokind.api.motion.servos
Contains the objects used for loading and creating a ServoController.
ServoRobot.ServoControllerContext(ServiceContext<ServoController<?, ?, T, ?>, ServoControllerConfig, ?>, ServoJointAdapter<T, ?>)
- Constructor for class org.robokind.api.motion.servos.
ServoRobot.ServoControllerContext
Creates a new ServoControllerContext.
ServoRobotConfig
- Class in
org.robokind.api.motion.servos.config
Configurations for a ServoRobot.
ServoRobotConfig()
- Constructor for class org.robokind.api.motion.servos.config.
ServoRobotConfig
Creates an empty RobotConfig.
ServoRobotConnector
- Class in
org.robokind.api.motion.servos.utils
ServiceFactory for creating new ServoRobots from ServoRobotConfigs.
ServoRobotConnector()
- Constructor for class org.robokind.api.motion.servos.utils.
ServoRobotConnector
setBlender(Blender)
- Method in class org.robokind.api.motion.blending.
TimedBlenderDriver
Sets the Blender to drive.
setConnectStatus(ConnectionStatus)
- Method in class org.robokind.api.motion.servos.
AbstractServoController
Set the ServoController's ConnectionStatus.
setControllerTypeVersion(VersionProperty)
- Method in interface org.robokind.api.motion.servos.config.
ServoControllerConfig
Sets ControllerType VersionProperty.
setDefaultPosition(Integer)
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Sets the Servo default position.
setDefaultPosition(Integer)
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Sets the Servo default position.
setEnabled(boolean)
- Method in class org.robokind.api.motion.
AbstractRobot
Sets the enabled status of the Robot.
setEnabled(Boolean)
- Method in interface org.robokind.api.motion.
Joint
If enabled, this Joint will accept move commands.
setEnabled(boolean)
- Method in interface org.robokind.api.motion.
Robot
Sets the enabled status of the Robot.
setEnabled(Boolean)
- Method in interface org.robokind.api.motion.servos.
Servo
Sets the enabled value for this Servo
setEnabled(Boolean)
- Method in interface org.robokind.api.motion.servos.
ServoController
If enabled, this ServoController should accept move commands.
setEnabled(Boolean)
- Method in class org.robokind.api.motion.servos.
ServoJoint
setEnabled(boolean)
- Method in class org.robokind.api.motion.servos.
ServoRobot
setEnabled(boolean)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
setEnabled(boolean)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
setEnabled(boolean)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Sets the enabled state of the JointGroup
setEnabled(boolean)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Sets the default enabled state of the JointGroup
setEnabled(boolean)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
If false, this MotionTargetFrameSource will return null when queried for Movements.
setFrameCombiner(FrameCombiner<MF, FS, PosMap>)
- Method in interface org.robokind.api.motion.blending.
Blender
Sets the Blender's FrameCombiner.
setFrameCombiner(FrameCombiner<MF, FS, PosMap>)
- Method in class org.robokind.api.motion.blending.
DefaultBlender
setFrameLengthMillisec(long)
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Sets the time interval length for the MotionFrame.
setFrameLengthMillisec(long)
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Sets the time interval length for the MotionFrame.
setFrameSourceTracker(FrameSourceTracker)
- Method in class org.robokind.api.motion.blending.
TimedBlenderDriver
Set the FrameSourceTracker to use.
setGoalPosition(NormalizedDouble)
- Method in class org.robokind.api.motion.servos.
AbstractServo
setGoalPosition(NormalizedDouble)
- Method in interface org.robokind.api.motion.servos.
Servo
Sets the goal position.
setGoalPosition(NormalizedDouble)
- Method in class org.robokind.api.motion.servos.
ServoJoint
Allows the ServoRobot to set the goal position.
setGoalPositions(PosMap)
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Sets the MotionFrame's goal JointPositionMap.
setGoalPositions(PosMap)
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Sets the MotionFrame's goal JointPositionMap.
setMaxPosition(Integer)
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Sets the Servo maximum position.
setMaxPosition(Integer)
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Sets the Servo maximum position.
setMinPosition(Integer)
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Sets the Servo minimum position.
setMinPosition(Integer)
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Sets the Servo minimum position.
setName(String)
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Sets the Servo name.
setName(String)
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Sets the Servo name.
setName(String)
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
setName(String)
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
setName(String)
- Method in interface org.robokind.api.motion.utils.
JointGroup
Sets the name of the JointGroup
setName(String)
- Method in interface org.robokind.api.motion.utils.
JointGroupConfig
Sets the name of the JointGroup
setOutput(BlenderOutput<PosMap>)
- Method in interface org.robokind.api.motion.blending.
Blender
Sets the Blender's BlenderOutput.
setOutput(BlenderOutput<PosMap>)
- Method in class org.robokind.api.motion.blending.
DefaultBlender
setPreviousPositions(PosMap)
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Set the MotionFrame's previous JointPositionMap.
setPreviousPositions(PosMap)
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Set the MotionFrame's previous JointPositionMap.
setRobotId(Robot.Id)
- Method in class org.robokind.api.motion.servos.config.
ServoRobotConfig
Sets the Id to use with the Robot
setRobotId(Robot.Id)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Sets the Id used by this MotionTargetFrameSource.
setServoId(Id)
- Method in class org.robokind.api.motion.servos.config.
DefaultServoConfig
Sets the Servo id.
setServoId(Id)
- Method in interface org.robokind.api.motion.servos.config.
ServoConfig
Sets the Servo id.
setStopOnGoal(boolean)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
When StopOnGoal is set true, the MotionTargetFrameSource will disable itself after reaching the target positions.
setTimestampMillisecUTC(long)
- Method in class org.robokind.api.motion.protocol.
DefaultMotionFrame
Sets the MotionFrame creation time.
setTimestampMillisecUTC(long)
- Method in interface org.robokind.api.motion.protocol.
MotionFrame
Sets the MotionFrame creation time.
setValue(T)
- Method in class org.robokind.api.motion.
JointProperty.ReadOnly
setValue(T)
- Method in interface org.robokind.api.motion.
JointProperty
Sets the value of the JointProperty.
setVelocity(double)
- Method in class org.robokind.api.motion.utils.
PositionTargetFrameSource
Set the max velocity, measured as (change in NormalizedDouble)/millisecond.
start(BundleContext)
- Method in class org.robokind.api.motion.osgi.
Activator
startDefaultBlender(BundleContext, Robot.Id, long)
- Static method in class org.robokind.api.motion.utils.
RobotUtils
Creates a DefaultBlender for the Robot with the given robotId.
stop(BundleContext)
- Method in class org.robokind.api.motion.osgi.
Activator
T
TimedBlenderDriver
- Class in
org.robokind.api.motion.blending
A TimedBlenderDriver runs in a TimerLoop and regularly pulls Frames from the FrameSources in its FrameSourceTracker, and sends them to its Blender.
TimedBlenderDriver(long)
- Constructor for class org.robokind.api.motion.blending.
TimedBlenderDriver
Creates a new TimedBlenderDriver to run at the given interval.
timerTick(long, long)
- Method in class org.robokind.api.motion.blending.
TimedBlenderDriver
toString()
- Method in class org.robokind.api.motion.
Joint.Id
toString()
- Method in class org.robokind.api.motion.
Robot.Id
toString()
- Method in class org.robokind.api.motion.
Robot.JointId
toString()
- Method in class org.robokind.api.motion.servos.
ServoController.Id
toString()
- Method in class org.robokind.api.motion.servos.
ServoController.ServoId
toString()
- Method in class org.robokind.api.motion.utils.
AbstractJointGroup
toString()
- Method in class org.robokind.api.motion.utils.
DefaultJointGroupConfig
V
valueOf(String)
- Static method in enum org.robokind.api.motion.servos.utils.
ConnectionStatus
Returns the enum constant of this type with the specified name.
values()
- Static method in enum org.robokind.api.motion.servos.utils.
ConnectionStatus
Returns an array containing the constants of this enum type, in the order they are declared.
VelocityCombiner
<
Id
,
PosMap
extends
JointPositionMap
<
Id
,org.robokind.api.common.position.NormalizedDouble>> - Class in
org.robokind.api.motion.blending
Blends Frames by combining the velocities contributed from each MotionFrame.
VelocityCombiner(Factory<PosMap>)
- Constructor for class org.robokind.api.motion.blending.
VelocityCombiner
VERSION
- Static variable in class org.robokind.api.motion.servos.
ServoRobot
Controller type VersionProperty.
VERSION_NAME
- Static variable in class org.robokind.api.motion.servos.
ServoRobot
Controller type version name.
VERSION_NUMBER
- Static variable in class org.robokind.api.motion.servos.
ServoRobot
Controller type version number.
W
write(PosMap, long)
- Method in interface org.robokind.api.motion.blending.
BlenderOutput
Writes a map of output positions.
write(Robot.RobotPositionMap, long)
- Method in class org.robokind.api.motion.blending.
RobotOutput
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