org.cogchar.api.animoid.world

Class WorldJointStateSnap

java.lang.Object

org.cogchar.api.animoid.world.WorldJointStateSnap

public class WorldJointStateSnap
extends Object

Author:

Stu B.

Constructor Summary

Constructors

Constructor and Description
WorldJointStateSnap(WorldJoint wj, Frame posFrame, Frame velFrame)
WorldJointStateSnap(WorldJoint wj, JointPosition posJP, JointPosition velJP)

Method Summary

Methods

Modifier and Type	Method and Description
double	getInternalVelDegPerSec()
Joint	getJoint()
double	getPosAbsRom()
double	getPosInternalDegOffCenter()
JointPosition	getPositionJP()
double	getRoomAbovePosInWorldDeg()
double	getRoomBelowPosInWorldDeg()
String	getShortDescriptiveName()
double	getTotalRomDegrees()
JointPosition	getVelocityJP()
double	getVelRomPerSec()
WorldJoint	getWorldJoint()
double	getWorldPosDeg()
double	getWorldVelDegPerSec()
void	setPositionJP(JointPosition posJP)
void	setVelocityJP(JointPosition velJP)
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

WorldJointStateSnap

public WorldJointStateSnap(WorldJoint wj,
                   JointPosition posJP,
                   JointPosition velJP)

WorldJointStateSnap

public WorldJointStateSnap(WorldJoint wj,
                   Frame posFrame,
                   Frame velFrame)

Method Detail

getJoint

public Joint getJoint()

getWorldJoint

public WorldJoint getWorldJoint()

setPositionJP

public void setPositionJP(JointPosition posJP)

setVelocityJP

public void setVelocityJP(JointPosition velJP)

getPosAbsRom

public double getPosAbsRom()

getPosInternalDegOffCenter

public double getPosInternalDegOffCenter()

getWorldPosDeg

public double getWorldPosDeg()

getPositionJP

public JointPosition getPositionJP()

getTotalRomDegrees

public double getTotalRomDegrees()

getInternalVelDegPerSec

public double getInternalVelDegPerSec()

getWorldVelDegPerSec

public double getWorldVelDegPerSec()

getVelRomPerSec

public double getVelRomPerSec()

getVelocityJP

public JointPosition getVelocityJP()

getRoomAbovePosInWorldDeg

public double getRoomAbovePosInWorldDeg()

getRoomBelowPosInWorldDeg

public double getRoomBelowPosInWorldDeg()

toString

public String toString()

Overrides:

toString in class Object

getShortDescriptiveName

public String getShortDescriptiveName()