org.cogchar.bind.rk.robot.model
Class ModelJoint

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.AbstractJoint
          org.cogchar.bind.rk.robot.model.ModelJoint

All Implemented Interfaces:

PropertyChangeListener, EventListener, org.robokind.api.common.property.PropertyChangeSource, org.robokind.api.motion.Joint

public class ModelJoint
extends org.robokind.api.motion.AbstractJoint

Author:

Stu B.

Nested Class Summary

Nested classes/interfaces inherited from interface org.robokind.api.motion.Joint

org.robokind.api.motion.Joint.Id

Field Summary

Fields inherited from class org.robokind.api.motion.AbstractJoint

myProperties

Fields inherited from interface org.robokind.api.motion.Joint

PROP_ENABLED, PROP_GOAL_POSITION

Constructor Summary

protected

ModelJoint(org.robokind.api.motion.Joint.Id jointId, BoneJointConfig bjc)

Method Summary

List<BoneProjectionRange>	getBoneRotationRanges()
org.robokind.api.common.position.NormalizedDouble	getDefaultPosition()
protected String	getDescription()
Boolean	getEnabled()
org.robokind.api.common.position.NormalizedDouble	getGoalPosition()
String	getName()
org.robokind.api.common.position.NormalizableRange	getPositionRange()
List<BoneProjectionPosition>	getRotationListForCurrentGoal()
List<BoneProjectionPosition>	getRotationListForNormPos(org.robokind.api.common.position.NormalizedDouble normPos)
void	setEnabled(Boolean enabled)
protected void	setGoalPositionAndFirePropChangedEvent(org.robokind.api.common.position.NormalizedDouble pos) This is how our owning robot tells us to go to a particular position, in response to the move() commands it receives.
String	toString()
protected void	updateConfig(BoneJointConfig bjc, boolean flag_hardResetGoalPosToDefault)

Methods inherited from class org.robokind.api.motion.AbstractJoint

addProperty, getId, getProperties, getProperty, getProperty, propertyChange, removeProperty

Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Constructor Detail

ModelJoint

protected ModelJoint(org.robokind.api.motion.Joint.Id jointId,
                     BoneJointConfig bjc)

Method Detail

updateConfig

protected void updateConfig(BoneJointConfig bjc,
                            boolean flag_hardResetGoalPosToDefault)

getDescription

protected String getDescription()

toString

public String toString()

Overrides:

toString in class Object

setEnabled

public void setEnabled(Boolean enabled)

getEnabled

public Boolean getEnabled()

getName

public String getName()

getDefaultPosition

public org.robokind.api.common.position.NormalizedDouble getDefaultPosition()

getGoalPosition

public org.robokind.api.common.position.NormalizedDouble getGoalPosition()

getPositionRange

public org.robokind.api.common.position.NormalizableRange getPositionRange()

getBoneRotationRanges

public List<BoneProjectionRange> getBoneRotationRanges()

setGoalPositionAndFirePropChangedEvent

protected void setGoalPositionAndFirePropChangedEvent(org.robokind.api.common.position.NormalizedDouble pos)

This is how our owning robot tells us to go to a particular position, in response to the move() commands it receives.

Parameters:

pos -

getRotationListForNormPos

public List<BoneProjectionPosition> getRotationListForNormPos(org.robokind.api.common.position.NormalizedDouble normPos)

getRotationListForCurrentGoal

public List<BoneProjectionPosition> getRotationListForCurrentGoal()