org.robokind.api.motion
Interface JointProperty<T>

Type Parameters:
T - Value Type returned by this JointProperty.
All Superinterfaces:
org.robokind.api.common.property.PropertyChangeSource
All Known Implementing Classes:
JointProperty.ReadOnly, JointProperty.ReadWrite, ReadCurrentPosition, ReadLoad, ReadSpeed, ReadTemperature, ReadVoltage

public interface JointProperty<T>
extends org.robokind.api.common.property.PropertyChangeSource

Defines additional properties or capabilities of a given Joint, such as \ position feedback or moving speed.

Author:
Matthew Stevenson

Nested Class Summary
static class JointProperty.ReadOnly<T>
          Defines a JointProperty which can read but not write.
static class JointProperty.ReadWrite<T>
          Defines a JointProperty which can read and write.
 
Method Summary
 T getCachedValue()
          Returns the cached value for this JointProperty.
 String getDisplayName()
          Returns the display name of the JointProperty.
 Class<T> getPropertyClass()
          Returns the JointProperty's value Type.
 String getPropertyName()
          Returns the name of the JointProperty.
 boolean getReadable()
          Returns true if getValue() is supported.
 T getValue()
          Returns the value for this JointProperty, and caches the value.
 boolean getWriteable()
          Returns true if setValue(T val) is supported.
 void setValue(T val)
          Sets the value of the JointProperty.
 
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource
addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener
 

Method Detail

getPropertyName

String getPropertyName()
Returns the name of the JointProperty.

Returns:
name of the JointProperty

getDisplayName

String getDisplayName()
Returns the display name of the JointProperty.

Returns:
display name of the JointProperty

getPropertyClass

Class<T> getPropertyClass()
Returns the JointProperty's value Type.

Returns:
JointProperty's value Type

getReadable

boolean getReadable()
Returns true if getValue() is supported.

Returns:
true if getValue() is supported

getWriteable

boolean getWriteable()
Returns true if setValue(T val) is supported.

Returns:
true if setValue(T val) is supported

getValue

T getValue()
Returns the value for this JointProperty, and caches the value.

Returns:
the value for this JointProperty, and caches the value
Throws:
UnsupportedOperationException - if getValue is not supported

getCachedValue

T getCachedValue()
Returns the cached value for this JointProperty. If getValue() has not been called, this will return null.

Returns:
the cached value for this JointProperty. If getValue() has not been called, this will return null

setValue

void setValue(T val)
Sets the value of the JointProperty.

Parameters:
val - the new value to set
Throws:
UnsupportedOperationException - if setValue is not supported


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