cz.cuni.amis.pogamut.usar2004.agent.module.configuration

Class ConfigMissionPackage

java.lang.Object

cz.cuni.amis.pogamut.usar2004.agent.module.configuration.SuperConfiguration

cz.cuni.amis.pogamut.usar2004.agent.module.configuration.ConfigMissionPackage

public class ConfigMissionPackage
extends SuperConfiguration

Configuration message representative for Mission packages.

Author:

vejmanm

Field Summary

Fields

Modifier and Type	Field and Description
static ConfigType	type

Fields inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.configuration.SuperConfiguration

confType, lastMessage

Constructor Summary

Constructors

Constructor and Description
ConfigMissionPackage() Ctor.

Method Summary

Methods

Modifier and Type	Method and Description
String	getJointTypeAt(int index) Each value can either be “Revolute” or “Prismatic”, as determined by the type of joint being described.
int	getLinkAt(int index) Each value is the mission package’s link number(or index) that is described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min Range.
int	getLinksLength() Returns length of link list.
double	getMaxRangeAt(int index) For a revolute joint, Each value is the maximum absolute angle that the joint can rotate to.
double	getMaxSpeedAt(int index) Each value describes the joint’s maximum speed, in rad/s.
double	getMaxTorqueAt(int index) Each value describes the joint’s maximum torque.
double	getMinRangeAt(int index) For a revolute joint, Each value is the minimum absolute angle that the joint can rotate to.

Methods inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.configuration.SuperConfiguration

getConfigType, getFeatureNames, getFeatures, getFeatureSize, getFeatureValueBy, getName, getType, isReady, updateMessage

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

type

public static final ConfigType type

Constructor Detail

ConfigMissionPackage

public ConfigMissionPackage()

Ctor. Configuration type describes particular subject about which we want to know about. It is used to distinguish incoming message from the server.

Method Detail

getLinkAt

public int getLinkAt(int index)

Each value is the mission package’s link number(or index) that is described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min Range.

Parameters:

index -

Returns:

Returns link value at given index.

getJointTypeAt

public String getJointTypeAt(int index)

Each value can either be “Revolute” or “Prismatic”, as determined by the type of joint being described.

Parameters:

index -

Returns:

Returns joint type value at given index.

getMaxSpeedAt

public double getMaxSpeedAt(int index)

Each value describes the joint’s maximum speed, in rad/s.

Parameters:

index -

Returns:

Returns joint max speed at given index.

getMaxTorqueAt

public double getMaxTorqueAt(int index)

Each value describes the joint’s maximum torque.

Parameters:

index -

Returns:

Returns joint max torque at given index.

getMinRangeAt

public double getMinRangeAt(int index)

For a revolute joint, Each value is the minimum absolute angle that the joint can rotate to. For a prismatic joint, Each value is the minimum distance that the joint can move to.

Parameters:

index -

Returns:

Returns joint min range at given index.

getMaxRangeAt

public double getMaxRangeAt(int index)

For a revolute joint, Each value is the maximum absolute angle that the joint can rotate to. For a prismatic joint, Each value is the maximum distance that the joint can move to.

Parameters:

index -

Returns:

Returns joint max range at given index.

getLinksLength

public int getLinksLength()

Returns length of link list.

Returns:

Returns length of link list.