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java.lang.Object | +--JointVariables
A class to hold the set of Joint objects for the Robot. Although traditional robotics literature uses the term 'joint variables' to describe the position of specific joint, this class uses the same term because in a round about way it does the same thing: specifying the position of the Robot's degrees of freedom.
SimulationEngine
,
Robot
,
Joint
,
Degree
Constructor Summary | |
JointVariables()
Class constructor, initializes the variables. |
Method Summary | |
void |
addJoint(Joint joint)
Add a joint to the set of joint variables. |
java.lang.Object |
clone()
Implements clone(), returning an Object copy of the JointVariables. |
int |
countJoints()
Returns the number of Joints in the JointVariables object. |
Degree |
getDegree(java.lang.String name)
Returns the named Degree. |
Joint |
getJoint(int index)
Returns the requested joint. |
Joint |
getJoint(java.lang.String name)
Returns the Joint containing the named Degree. |
java.util.Enumeration |
getJoints()
Returns all the Joint objects as an Enumeration object. |
java.util.Hashtable |
getNameTable()
Returns the current Hashtable associating names with IndexPair objects. |
void |
home()
Returns the Robot to its home position, as specified by the configuration parameters used to create the robot. |
boolean |
IsInRange()
Determines if the set of joint angles is within the joint space. |
void |
setNameTable(java.util.Hashtable names)
Sets the Hashtable associating names with an IndexPair object, allowing a specific Degree to be fetched by name. |
Methods inherited from class java.lang.Object |
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Constructor Detail |
public JointVariables()
Method Detail |
public void addJoint(Joint joint)
joint
- the Joint to be added to the JointVariables object.public Joint getJoint(int index)
index
- the index of the requested joint.public Joint getJoint(java.lang.String name)
name
- the name of the Joint to return.public Degree getDegree(java.lang.String name)
name
- the name of the requested Degree.public java.util.Enumeration getJoints()
public int countJoints()
public void setNameTable(java.util.Hashtable names)
names
- the Hashtable of names.public java.util.Hashtable getNameTable()
public boolean IsInRange()
public void home()
public java.lang.Object clone()
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