public class BodyPartConfiguration extends java.lang.Object implements IBodyPartConfiguration
Constructor and Description |
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BodyPartConfiguration(java.lang.String name,
java.lang.String parent,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D translation,
float mass,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D geometry,
ISensorConfiguration jointConfig,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D jointAnchor,
ISensorConfiguration gyroRateConfig,
ISensorConfiguration accelerometerConfig,
ISensorConfiguration forceResistanceConfig,
ISensorConfiguration compassConfig) |
Modifier and Type | Method and Description |
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ISensorConfiguration |
getAccelerometerConfiguration()
Returns the configuration of the Accelerometer inside the body part.
|
ISensorConfiguration |
getCompassConfig()
Returns the configuration of the CompassConfig percaptor inside the body
part.
|
ISensorConfiguration |
getForceResistanceConfiguration()
Returns the configuration of the ForceResistance percaptor inside the body
part.
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getGeometry()
Returns a vector, containing the geometry of the body part.
|
ISensorConfiguration |
getGyroRateConfiguration()
Returns the configuration of the GyroRate perceptor inside the body part.
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getJointAnchor()
Returns the ancher of the joint, relative to the body part.
|
ISensorConfiguration |
getJointConfiguration()
Returns the JointConfiguration object to that body part.
|
float |
getMass()
Retruns the mass of the body part.
|
java.lang.String |
getName()
Returns the name of the body part.
|
java.lang.String |
getParent()
Returns the name of the parent body part.
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getTranslation()
Returns a vector that describes the position of the body part relative to
it's parent.
|
public BodyPartConfiguration(java.lang.String name, java.lang.String parent, org.apache.commons.math3.geometry.euclidean.threed.Vector3D translation, float mass, org.apache.commons.math3.geometry.euclidean.threed.Vector3D geometry, ISensorConfiguration jointConfig, org.apache.commons.math3.geometry.euclidean.threed.Vector3D jointAnchor, ISensorConfiguration gyroRateConfig, ISensorConfiguration accelerometerConfig, ISensorConfiguration forceResistanceConfig, ISensorConfiguration compassConfig)
public java.lang.String getName()
IBodyPartConfiguration
getName
in interface IBodyPartConfiguration
public java.lang.String getParent()
IBodyPartConfiguration
getParent
in interface IBodyPartConfiguration
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D getTranslation()
IBodyPartConfiguration
getTranslation
in interface IBodyPartConfiguration
public float getMass()
IBodyPartConfiguration
getMass
in interface IBodyPartConfiguration
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D getGeometry()
IBodyPartConfiguration
getGeometry
in interface IBodyPartConfiguration
public ISensorConfiguration getJointConfiguration()
IBodyPartConfiguration
getJointConfiguration
in interface IBodyPartConfiguration
public org.apache.commons.math3.geometry.euclidean.threed.Vector3D getJointAnchor()
IBodyPartConfiguration
getJointAnchor
in interface IBodyPartConfiguration
public ISensorConfiguration getGyroRateConfiguration()
IBodyPartConfiguration
getGyroRateConfiguration
in interface IBodyPartConfiguration
public ISensorConfiguration getAccelerometerConfiguration()
IBodyPartConfiguration
getAccelerometerConfiguration
in interface IBodyPartConfiguration
public ISensorConfiguration getForceResistanceConfiguration()
IBodyPartConfiguration
getForceResistanceConfiguration
in interface IBodyPartConfiguration
public ISensorConfiguration getCompassConfig()
IBodyPartConfiguration
getCompassConfig
in interface IBodyPartConfiguration