Class PositionTable

java.lang.Object
  |
  +--PositionTable

public class PositionTable
extends java.lang.Object

A class to store named positions. The PositionTable class is an implementation of the Singleton Pattern, as shown in Gamma et al (p. 127), which ensures only one instance of the class is created, and provides access to that instance.


Method Summary
static PositionTable getInstance()
          Returns the unique instance of the XYZTable class.
 JointVariables getNamedPosition(java.lang.String name)
          Returns the joint variables for the saved position with the given name from the table.
 void putNamedPosition(java.lang.String name, JointVariables joints)
          Puts a new Point3d into the table, using the given name.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Method Detail

putNamedPosition

public void putNamedPosition(java.lang.String name,
                             JointVariables joints)
Puts a new Point3d into the table, using the given name.
Parameters:
name - the name for the endpoint.
joints - the set of joint variables for the Robot.

getNamedPosition

public JointVariables getNamedPosition(java.lang.String name)
Returns the joint variables for the saved position with the given name from the table.
Parameters:
name - the name of the position to retrieve.
Returns:
the set of joint variables retrieved from the table.

getInstance

public static PositionTable getInstance()
Returns the unique instance of the XYZTable class. The actual instance isn't initialized until getInstance is called by another object.
Returns:
the only instance of the XYZTable.