public interface IJoint extends ISensor, java.io.Serializable
Modifier and Type | Method and Description |
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void |
generateJointAction(java.util.Map<java.lang.String,float[]> actions)
Informs the action component to create action commands from this joint.
|
java.util.List<IJoint> |
getAllSubJoints() |
org.apache.commons.math3.geometry.euclidean.threed.Rotation |
getRotation()
Retrieve the rotation matrix, related to the current axis positions of the
joint.
|
void |
performInitialPosition()
Called to perform a movement towards the initial position of the joint.
|
void |
resetMovement()
Called to reset all currently set movements of the joint and perform no
movement at all (zero axis speed).
|
void |
updateJointPositionFromJoint(IJoint joint)
Upates the speed values of this joint by copying them from the passed
joint
|
copy, getName, updateFromPerception, updateNoPerception, updateSensors
void performInitialPosition()
void resetMovement()
org.apache.commons.math3.geometry.euclidean.threed.Rotation getRotation()
void generateJointAction(java.util.Map<java.lang.String,float[]> actions)
actions
- a map of effector name, values pairsvoid updateJointPositionFromJoint(IJoint joint)
joint
- the joint used as sourcejava.util.List<IJoint> getAllSubJoints()