public interface IUniversalJoint extends IJoint
Modifier and Type | Method and Description |
---|---|
float |
getAxis1()
Retrieve joint axis1 angle
|
float |
getAxis2()
Retrieve joint axis2 angle
|
float |
getMaxAxis1() |
float |
getMaxAxis2() |
float |
getMinAxis1() |
float |
getMinAxis2() |
float |
getNextAxis1Speed()
Returns the next axis1 speed to the joint.
|
float |
getNextAxis2Speed()
Returns the next axis2 speed to the joint.
|
void |
performAxis1Position(float position)
Let the hinge joint perform a movement along axis1 in direction of the
given target position (at maximum speed)
|
void |
performAxis1Position(float position,
float maxSpeed)
Let the hinge joint perform a movement along axis1 in direction of the
given target position with the given speed as maximum speed
|
void |
performAxis1Speed(float speed)
Let the universal joint perform a movement along axis1 with the given
speed in the current cycle.
|
void |
performAxis2Position(float position)
Let the hinge joint perform a movement along axis2 in direction of the
given target position (at maximum speed)
|
void |
performAxis2Position(float position,
float maxSpeed)
Let the hinge joint perform a movement along axis2 in direction of the
given target position with the given speed as maximum speed
|
void |
performAxis2Speed(float speed)
Let the universal joint perform a movement along axis2 with the given
speed in the current cycle.
|
generateJointAction, getAllSubJoints, getRotation, performInitialPosition, resetMovement, updateJointPositionFromJoint
copy, getName, updateFromPerception, updateNoPerception, updateSensors
float getMinAxis1()
float getMaxAxis1()
float getMinAxis2()
float getMaxAxis2()
float getAxis1()
float getAxis2()
void performAxis1Speed(float speed)
speed
- to move the joint axis1 (in deg/cycle)void performAxis2Speed(float speed)
speed
- to move the joint axis2 (in deg/cycle)void performAxis1Position(float position)
position
- - target position of axis1 movementvoid performAxis2Position(float position)
position
- - target position of axis2 movementvoid performAxis1Position(float position, float maxSpeed)
position
- - target position of axis1 movementmaxSpeed
- - maximum allowed speed for movement (in deg/cycle)void performAxis2Position(float position, float maxSpeed)
position
- - target position of axis2 movementmaxSpeed
- - maximum allowed speed for movement (in deg/cycle)float getNextAxis1Speed()
float getNextAxis2Speed()