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java.lang.Object | +--Degree
A class to encapsulate a degree of freedom in the Robot. This class has member fields which describe most of the Denavit-Hartenberg parameters required to represent the transformations from one degree of freedom to the next.
A Degree can be one of three types: revolute, prismatic, or inanimate. An inanimate degree of freedom is used merely as a placeholder in the Robot, and cannot be moved via Commands.
Robot
,
Joint
Field Summary | |
static int |
TYPE_INANIMATE
Specifies an inanimte degree of freedom, used as a placeholder. |
static int |
TYPE_PRISMATIC
Specifies a prismatic-type degree of freedom. |
static int |
TYPE_REVOLUTE
Specifies a revolute-type degree of freedom. |
Constructor Summary | |
Degree()
Creates and initializes a new degree of freedom. |
Method Summary | |
java.lang.Object |
clone()
Implements the clone() method, returns an Object copy of the Degree. |
double |
getHome()
Get the Degree's home variable value. |
double |
getMaximum()
Gets the Degree's maximum variable value. |
double |
getMinimum()
Gets the Degree's minimum variable value. |
java.lang.String |
getName()
Gets the name of Degree. |
double |
getOffset()
Gets the Degree's offset. |
javax.media.j3d.TransformGroup |
getTransformGroup()
Returns the TransformGroup performing the Degree's transformation. |
double |
getTwist()
Gets the Degree's twist. |
int |
getType()
Gets the type of Degree: TYPE_REVOLUTE, TYPE_PRISMATIC, or TYPE_INANIMATE. |
double |
getVariable()
Gets the Degree's variable. |
boolean |
inRange()
Determines if the Degree's current variable is within variable range. |
boolean |
inRange(double variable)
Determines if the given variable is within the Degree's range of motion. |
boolean |
isEmpty()
Returns if the Degree is empty. |
void |
setHome(double home)
Sets the Degree's home variable value. |
void |
setMaximum(double maximum)
Sets the Degree's maximum variable value. |
void |
setMinimum(double minimum)
Sets the Degree's minimum variable value. |
void |
setName(java.lang.String name)
Sets the Degree's name. |
void |
setOffset(double offset)
Sets the Degree's offset. |
void |
setTransformGroup(javax.media.j3d.TransformGroup transformGroup)
Sets the TransformGroup required to transform from one degree to the next. |
void |
setTwist(double twist)
Sets the Degree's twist. |
void |
setType(int type)
Sets the type of Degree: TYPE_REVOLUTE, TYPE_PRISMATIC, or TYPE_INANIMATE. |
void |
setVariable(double variable)
Sets the Degree's variable |
Methods inherited from class java.lang.Object |
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Field Detail |
public static final int TYPE_REVOLUTE
public static final int TYPE_PRISMATIC
public static final int TYPE_INANIMATE
Constructor Detail |
public Degree()
Method Detail |
public void setName(java.lang.String name)
name
- the name for the Degree.public java.lang.String getName()
public void setType(int type)
type
- the integer representation of the type of Degree.public int getType()
public void setOffset(double offset)
offset
- the offset for the Degree.public double getOffset()
public void setTwist(double twist)
the
- setting for the Degree twist (in degrees).public double getTwist()
public void setMinimum(double minimum)
minimum
- the minimum setting for the Degree variable.public double getMinimum()
public void setMaximum(double maximum)
maximum
- the maximum setting for the Degree variable.public double getMaximum()
public void setHome(double home)
home
- the home setting for the Degree variable.public double getHome()
public void setVariable(double variable)
variable
- the value for the Degree variable.public double getVariable()
public void setTransformGroup(javax.media.j3d.TransformGroup transformGroup)
transformGroup
- performs the Degree's transformation.public javax.media.j3d.TransformGroup getTransformGroup()
public boolean inRange(double variable)
variable
- the value to be range-tested.public boolean inRange()
public boolean isEmpty()
public java.lang.Object clone()
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