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java.lang.Objectorg.robokind.api.motion.AbstractRobot<J>
J
- Type of Joint used by this Robotpublic abstract class AbstractRobot<J extends Joint>
Provides common functionality for Robot implementations
Nested Class Summary |
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Nested classes/interfaces inherited from interface org.robokind.api.motion.Robot |
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Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap |
Field Summary | |
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protected List<J> |
myJointList
List of Joints to preserve order |
protected Map<Robot.JointId,J> |
myJointMap
Map of the Robot's JointIds and Joints. |
Fields inherited from interface org.robokind.api.motion.Robot |
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PROP_ID |
Constructor Summary | |
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AbstractRobot(Robot.Id robotId)
Creates an empty Robot with the given RobotId |
Method Summary | |
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protected boolean |
addJoint(J j)
Adds the given Joint to the Robot. |
protected void |
clearJoints()
Removes all Joints from 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. |
Joint |
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<Joint> |
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. |
Map<Robot.JointId,String> |
getJointNames()
Returns a map of the Robot's Joint's ids and their names. |
Map<Robot.JointId,J> |
getJoints()
Returns a map of the Robot's Joints and their ids. |
Robot.Id |
getRobotId()
Returns a String uniquely identifying this Robot. |
boolean |
isEnabled()
Returns true if the Robot is enabled and accepting commands. |
protected boolean |
removeJoint(J j)
Removes the given Joint from the Robot. |
void |
setEnabled(boolean val)
Sets the enabled status of the Robot. |
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.motion.Robot |
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connect, disconnect, isConnected, move |
Field Detail |
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protected Map<Robot.JointId,J extends Joint> myJointMap
protected List<J extends Joint> myJointList
Constructor Detail |
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public AbstractRobot(Robot.Id robotId)
robotId
- unique RobotIdMethod Detail |
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public Robot.Id getRobotId()
Robot
getRobotId
in interface Robot
public Joint getJoint(Robot.JointId id)
Robot
getJoint
in interface Robot
id
- Joint's logical id
public Set<Robot.JointId> getJointIds()
Robot
getJointIds
in interface Robot
public Map<Robot.JointId,J> getJoints()
Robot
getJoints
in interface Robot
public String getJointName(Robot.JointId id)
Robot
getJointName
in interface Robot
id
- Joint's logical id
public boolean isEnabled()
isEnabled
in interface Robot
public void setEnabled(boolean val)
setEnabled
in interface Robot
val
- enabled valuepublic Map<Robot.JointId,String> getJointNames()
Robot
getJointNames
in interface Robot
public Robot.RobotPositionMap getDefaultPositions()
Robot
getDefaultPositions
in interface Robot
public Robot.RobotPositionMap getCurrentPositions()
Robot
getCurrentPositions
in interface Robot
public Robot.RobotPositionMap getGoalPositions()
Robot
getGoalPositions
in interface Robot
protected boolean addJoint(J j)
j
- Joint to add
protected boolean removeJoint(J j)
j
- Joint to remove
protected void clearJoints()
public List<Joint> getJointList()
Robot
getJointList
in interface Robot
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