public class Joint extends Object implements Serializable
| Modifier and Type | Field and Description |
|---|---|
Integer |
oldDefServoPos |
Boolean |
oldInvertedFlag |
Integer |
oldLogicalJointNumber |
Integer |
oldMaxServoPos |
Integer |
oldMinServoPos |
| Constructor and Description |
|---|
Joint(Device d,
Robot r,
String deviceChannelID,
String jointName) |
| Modifier and Type | Method and Description |
|---|---|
double |
convertLopsidedFloatToROM(double lopsidedPos) |
static double |
convertLopsidedFloatToROM(double lopsidedPos,
int minP,
int maxP,
int defP,
boolean inverted) |
double |
convertROMtoLopsidedFloat(double romPos) |
double |
convertROMtoLopsidedFloat(double romPos,
int minP,
int maxP,
int defP,
boolean inverted) |
boolean |
equals(Object other) |
JointPosition |
getCenterPosition() |
Device |
getDevice() |
String |
getDeviceAndRobotDesc() |
String |
getDeviceChannelID() |
String |
getJointName() |
Robot |
getRobot() |
JointPosition |
makeJointPosForROM_value(double romValue) |
JointVelocityAROMPS |
makeJointVelForROM_speedValue(double velRomPS) |
String |
toString() |
public Integer oldLogicalJointNumber
public Integer oldMinServoPos
public Integer oldMaxServoPos
public Integer oldDefServoPos
public Boolean oldInvertedFlag
public Device getDevice()
public Robot getRobot()
public String getDeviceChannelID()
public String getJointName()
public String getDeviceAndRobotDesc()
public JointPosition getCenterPosition()
public double convertLopsidedFloatToROM(double lopsidedPos)
throws Throwable
Throwablepublic double convertROMtoLopsidedFloat(double romPos)
throws Throwable
Throwablepublic static double convertLopsidedFloatToROM(double lopsidedPos,
int minP,
int maxP,
int defP,
boolean inverted)
throws Throwable
Throwablepublic double convertROMtoLopsidedFloat(double romPos,
int minP,
int maxP,
int defP,
boolean inverted)
throws Throwable
Throwablepublic JointPosition makeJointPosForROM_value(double romValue)
public JointVelocityAROMPS makeJointVelForROM_speedValue(double velRomPS)
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