org.cogchar.api.animoid.protocol

Class JointPositionAROM

java.lang.Object

org.cogchar.api.animoid.protocol.JointStateItem

org.cogchar.api.animoid.protocol.JointPosition

org.cogchar.api.animoid.protocol.JointPositionAROM

All Implemented Interfaces:

Serializable

public class JointPositionAROM
extends JointPosition

An early prototype (ca. 2009) of a concept very close to a modern TinkerBot NormalizedDouble.
AROM = "Absolute Range of Motion", bounded by 0.0 = "min", 1.0 = "max".

Author:

Stu B.

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.cogchar.api.animoid.protocol.JointPosition

JointPosition.Rationale

Constructor Summary

Constructors

Constructor and Description
JointPositionAROM(Joint j)
JointPositionAROM(Joint j, double absRomPos)
JointPositionAROM(JointPosition jp)

Method Summary

Methods

Modifier and Type	Method and Description
JointPositionRROM	computeDeltaRelPos(JointPositionAROM targetJP)
boolean	equals(Object other)
double	getPosAbsROM()

Methods inherited from class org.cogchar.api.animoid.protocol.JointPosition

addDelta, convertToCooordinateType, copy, differentiate, getRationale, integrate, setRationale, sumJointPositions, toString, weightedSumJointPositions

Methods inherited from class org.cogchar.api.animoid.protocol.JointStateItem

asJointVelocity, computeRateOfChange, copyStateFrom, dumpStateList, getCoordinateFloat, getCoordinateType, getJoint, isZero, multiplyByScalar, setCoordinateFloat, truncate, verifyCoordinateTypeCompatibility

Methods inherited from class java.lang.Object

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

Constructor Detail

JointPositionAROM

public JointPositionAROM(Joint j)

JointPositionAROM

public JointPositionAROM(Joint j,
                 double absRomPos)

JointPositionAROM

public JointPositionAROM(JointPosition jp)

Method Detail

getPosAbsROM

public double getPosAbsROM()

computeDeltaRelPos

public JointPositionRROM computeDeltaRelPos(JointPositionAROM targetJP)

equals

public boolean equals(Object other)

Overrides:

equals in class Object