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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--Joint
A class that encapsulates a robot Joint, including the 3D representation that will be used to render the Joint, a Degree object for each of the Joint's degrees of freedom, and the Joint's link length. All of the other Denavit-Hartenberg parameters are included in each Degree object.
Robot
,
Degree
Constructor Summary | |
Joint()
Creates and initializes a new joint. |
Method Summary | |
void |
addDegree(Degree degree)
Add a Degree to the Joint. |
java.lang.Object |
clone()
Implements the clone() method, returning an Object copy of the Joint. |
int |
countDegrees()
Returns the number of degrees of freedom in this Joint. |
Degree |
getDegree(int i)
Returns the specified Degree. |
java.util.Enumeration |
getDegrees()
Returns an Enumeration all of the Degrees. |
double |
getLength()
Returns the link length of the Joint. |
javax.media.j3d.Group |
getModel()
Returns the 3D representation of this Joint. |
boolean |
isEmpty()
Returns true if the Joint is empty. |
void |
setLength(double length)
Sets the link length of the Joint. |
void |
setModelParser(java.lang.String modelParser)
Set the ModelParser to be used to interpret the source file. |
void |
setSource(java.lang.String source)
Sets the source filename of the joint's model representation. |
Methods inherited from class java.lang.Object |
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Constructor Detail |
public Joint()
Method Detail |
public void addDegree(Degree degree)
degree
- the Degree object to be added to the Joint.public Degree getDegree(int i)
i
- the index of the requested Degree.public java.util.Enumeration getDegrees()
public int countDegrees()
public boolean isEmpty()
public void setSource(java.lang.String source)
source
- the name of the model source file.public javax.media.j3d.Group getModel()
public void setModelParser(java.lang.String modelParser) throws ModelParserException
modelParser
- the name of the ModelParser class to parse the source.public void setLength(double length)
length
- the length of the link.public double getLength()
public java.lang.Object clone()
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