public class UniversalJointConfiguration extends java.lang.Object implements IUniversalJointConfiguration
Constructor and Description |
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UniversalJointConfiguration(java.lang.String name,
IJointToMotorMapper mapper,
java.lang.String perceptorName,
java.lang.String effectorName1,
java.lang.String effectorName2,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D joint1Axis,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D joint2Axis,
int joint1MinAngle,
int joint2MinAngle,
int joint1MaxAngle,
int joint2MaxAngle,
float joint1MaxSpeed,
float joint2MaxSpeed) |
Modifier and Type | Method and Description |
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HingeJointConfiguration |
getHj1Configuration() |
HingeJointConfiguration |
getHj2Configuration() |
IJointToMotorMapper |
getJointToMotorMapper() |
java.lang.String |
getName()
Get the sensors name
|
java.lang.String |
getPerceptorName()
Get the perceptor name
|
public UniversalJointConfiguration(java.lang.String name, IJointToMotorMapper mapper, java.lang.String perceptorName, java.lang.String effectorName1, java.lang.String effectorName2, org.apache.commons.math3.geometry.euclidean.threed.Vector3D joint1Axis, org.apache.commons.math3.geometry.euclidean.threed.Vector3D joint2Axis, int joint1MinAngle, int joint2MinAngle, int joint1MaxAngle, int joint2MaxAngle, float joint1MaxSpeed, float joint2MaxSpeed)
name
- the name of the universal jointmapper
- joint to motor mapper, null if not neededperceptorName
- effectorName1
- effectorName2
- joint1Axis
- joint2Axis
- joint1MinAngle
- joint2MinAngle
- joint1MaxAngle
- joint2MaxAngle
- joint1MaxSpeed
- joint2MaxSpeed
- public java.lang.String getName()
ISensorConfiguration
getName
in interface ISensorConfiguration
public HingeJointConfiguration getHj1Configuration()
getHj1Configuration
in interface IUniversalJointConfiguration
public HingeJointConfiguration getHj2Configuration()
getHj2Configuration
in interface IUniversalJointConfiguration
public java.lang.String getPerceptorName()
ISensorConfiguration
getPerceptorName
in interface ISensorConfiguration
public IJointToMotorMapper getJointToMotorMapper()
getJointToMotorMapper
in interface IUniversalJointConfiguration