org.cogchar.api.animoid.protocol

Class JointStateItem

java.lang.Object

org.cogchar.api.animoid.protocol.JointStateItem

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

JointPosition

public abstract class JointStateItem
extends Object
implements Serializable

Author:

Stu B.

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
JointStateItem(Joint j)

Method Summary

Methods

Modifier and Type	Method and Description
JointVelocityAROMPS	asJointVelocity()
static double	computeRateOfChange(JointStateCoordinateType inType, JointStateItem prevState, JointStateItem currState, double timeSec)
abstract JointStateItem	copy()
void	copyStateFrom(JointStateItem sourceJSI)
static <JSI extends JointStateItem> String	dumpStateList(List<JSI> jsil)
Double	getCoordinateFloat(JointStateCoordinateType type)
JointStateCoordinateType	getCoordinateType()
Joint	getJoint()
boolean	isZero()
void	multiplyByScalar(double scalar)
void	setCoordinateFloat(JointStateCoordinateType type, Double value)
void	truncate()
void	verifyCoordinateTypeCompatibility(JointStateCoordinateType queryCT)

Methods inherited from class java.lang.Object

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

Constructor Detail

JointStateItem

public JointStateItem(Joint j)

Method Detail

copy

public abstract JointStateItem copy()

copyStateFrom

public void copyStateFrom(JointStateItem sourceJSI)

getCoordinateFloat

public Double getCoordinateFloat(JointStateCoordinateType type)

getCoordinateType

public JointStateCoordinateType getCoordinateType()

getJoint

public Joint getJoint()

multiplyByScalar

public void multiplyByScalar(double scalar)

setCoordinateFloat

public void setCoordinateFloat(JointStateCoordinateType type,
                      Double value)

verifyCoordinateTypeCompatibility

public void verifyCoordinateTypeCompatibility(JointStateCoordinateType queryCT)

isZero

public boolean isZero()

dumpStateList

public static <JSI extends JointStateItem> String dumpStateList(List<JSI> jsil)

truncate

public void truncate()

computeRateOfChange

public static double computeRateOfChange(JointStateCoordinateType inType,
                         JointStateItem prevState,
                         JointStateItem currState,
                         double timeSec)

asJointVelocity

public JointVelocityAROMPS asJointVelocity()