public interface ICompositeJoint extends IJoint
Modifier and Type | Method and Description |
---|---|
float |
getAxis(int index)
Retrieve joint axis[index] angle
|
float |
getMaxAxis(int index) |
float |
getMinAxis(int index) |
float |
getNextAxisSpeed(int index)
Returns the next axis speed to the joint.
|
void |
performAxisPosition(int index,
float position)
Let the joint perform a movement along axis in direction of the given
target position (at maximum speed)
|
void |
performAxisPosition(int index,
float position,
float maxSpeed)
Let the hinge joint perform a movement along axis in direction of the
given target position with the given speed as maximum speed
|
void |
performAxisSpeed(int index,
float speed)
Let the joint perform a movement along axis with the given speed in the
current cycle.
|
generateJointAction, getAllSubJoints, getRotation, performInitialPosition, resetMovement, updateJointPositionFromJoint
copy, getName, updateFromPerception, updateNoPerception, updateSensors
float getMinAxis(int index)
index
- index of the joint to work onfloat getMaxAxis(int index)
index
- index of the joint to work onfloat getAxis(int index)
index
- index of the joint to work onvoid performAxisSpeed(int index, float speed)
index
- index of the joint to work onspeed
- to move the joint axis (in deg/cycle)void performAxisPosition(int index, float position)
index
- index of the joint to work onposition
- - target position of axis1 movementvoid performAxisPosition(int index, float position, float maxSpeed)
index
- index of the joint to work onposition
- - target position of axis movementmaxSpeed
- - maximum allowed speed for movement (in deg/cycle)float getNextAxisSpeed(int index)
index
- index of the joint to work on