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public interface Joint
A Joint represents the values and properties of a DoF (degree of freedom) of a Robot. A Joint provides the goal position, and various JointProperties. Joints are intended to provide read-only access to properties, however some JointProperties can support writing the property as well. Joints can not be moved directly, move commands must go through the Robot.
Nested Class Summary | |
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static class |
Joint.Id
Joint.Id is an immutable identifier for a Joint within a Robot or ServoController. |
Field Summary | |
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static String |
PROP_ENABLED
Property string for Enabled. |
static String |
PROP_GOAL_POSITION
Property string for GoalPostion. |
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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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. |
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_GOAL_POSITION
static final String PROP_ENABLED
Method Detail |
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Joint.Id getId()
String getName()
org.robokind.api.common.position.NormalizedDouble getDefaultPosition()
org.robokind.api.common.position.NormalizedDouble getGoalPosition()
void setEnabled(Boolean enabled)
enabled
- Boolean getEnabled()
<T> JointProperty<T> getProperty(String name, Class<T> propertyType)
T
- Value Type returned by the JointPropertyname
- name of the JointPropertypropertyType
- Class for T
JointProperty getProperty(String name)
name
- name of the JointProperty
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