org.cogchar.api.animoid.protocol

Class Joint

java.lang.Object

org.cogchar.api.animoid.protocol.Joint

All Implemented Interfaces:

Serializable

public class Joint
extends Object
implements Serializable

Author:

Stu B.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
Integer	oldDefServoPos
Boolean	oldInvertedFlag
Integer	oldLogicalJointNumber
Integer	oldMaxServoPos
Integer	oldMinServoPos

Constructor Summary

Constructors

Constructor and Description
Joint(Device d, Robot r, String deviceChannelID, String jointName)

Method Summary

Methods

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()

Methods inherited from class java.lang.Object

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

Field Detail

oldLogicalJointNumber

public Integer oldLogicalJointNumber

oldMinServoPos

public Integer oldMinServoPos

oldMaxServoPos

public Integer oldMaxServoPos

oldDefServoPos

public Integer oldDefServoPos

oldInvertedFlag

public Boolean oldInvertedFlag

Constructor Detail

Joint

public Joint(Device d,
     Robot r,
     String deviceChannelID,
     String jointName)

Method Detail

getDevice

public Device getDevice()

getRobot

public Robot getRobot()

getDeviceChannelID

public String getDeviceChannelID()

getJointName

public String getJointName()

getDeviceAndRobotDesc

public String getDeviceAndRobotDesc()

equals

public boolean equals(Object other)

Overrides:

equals in class Object

getCenterPosition

public JointPosition getCenterPosition()

convertLopsidedFloatToROM

public double convertLopsidedFloatToROM(double lopsidedPos)
                                 throws Throwable

Throws:

Throwable

convertROMtoLopsidedFloat

public double convertROMtoLopsidedFloat(double romPos)
                                 throws Throwable

Throws:

Throwable

convertLopsidedFloatToROM

public static double convertLopsidedFloatToROM(double lopsidedPos,
                               int minP,
                               int maxP,
                               int defP,
                               boolean inverted)
                                        throws Throwable

Throws:

Throwable

convertROMtoLopsidedFloat

public double convertROMtoLopsidedFloat(double romPos,
                               int minP,
                               int maxP,
                               int defP,
                               boolean inverted)
                                 throws Throwable

Throws:

Throwable

makeJointPosForROM_value

public JointPosition makeJointPosForROM_value(double romValue)

makeJointVelForROM_speedValue

public JointVelocityAROMPS makeJointVelForROM_speedValue(double velRomPS)

toString

public String toString()

Overrides:

toString in class Object