sk.fiit.jim.agent.moves

Enum Joint

java.lang.Object

java.lang.Enum<Joint>

sk.fiit.jim.agent.moves.Joint

All Implemented Interfaces:

Serializable, Comparable<Joint>

public enum Joint
extends Enum<Joint>
implements Serializable

Effector.java Enumeration of joints robot has. Is also capable of translating incoming joint IDs into appropriate Joint. Holds information about its available angle range and allows programmer to trim an angle to this range. ANGLES SHOULD BE SUPPLIED IN DEG SYSTEM

Enum Constant Summary

Enum Constants

Enum Constant and Description
HE1
HE2
LAE1
LAE2
LAE3
LAE4
LLE1
LLE2
LLE3
LLE4
LLE5
LLE6
RAE1
RAE2
RAE3
RAE4
RLE1
RLE2
RLE3
RLE4
RLE5
RLE6

Field Summary

Fields

Modifier and Type	Field and Description
private double	lowerLimit
private static Map<String,Joint>	serverNotation
private double	upperLimit

Method Summary

Methods

Modifier and Type	Method and Description
static Joint	fromServerNotation(String jointId) Returns Joint from server by specified string id.
double	trim(double angleInXml) Returns lower limit of Joint angle if specified angle parameter is less than lower limit or upper limit of Joint angle if specified angle parameter is greater than upper limit.
static Joint	valueOf(String name) Returns the enum constant of this type with the specified name.
static Joint[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

HE1

public static final Joint HE1

HE2

public static final Joint HE2

RLE1

public static final Joint RLE1

RLE2

public static final Joint RLE2

RLE3

public static final Joint RLE3

RLE4

public static final Joint RLE4

RLE5

public static final Joint RLE5

RLE6

public static final Joint RLE6

RAE1

public static final Joint RAE1

RAE2

public static final Joint RAE2

RAE3

public static final Joint RAE3

RAE4

public static final Joint RAE4

LLE1

public static final Joint LLE1

LLE2

public static final Joint LLE2

LLE3

public static final Joint LLE3

LLE4

public static final Joint LLE4

LLE5

public static final Joint LLE5

LLE6

public static final Joint LLE6

LAE1

public static final Joint LAE1

LAE2

public static final Joint LAE2

LAE3

public static final Joint LAE3

LAE4

public static final Joint LAE4

Field Detail

lowerLimit

private double lowerLimit

upperLimit

private double upperLimit

serverNotation

private static Map<String,Joint> serverNotation

Method Detail

values

public static Joint[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (Joint c : Joint.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static Joint valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

fromServerNotation

public static Joint fromServerNotation(String jointId)

Returns Joint from server by specified string id.

Parameters:

jointId -

Returns:

trim

public double trim(double angleInXml)

Returns lower limit of Joint angle if specified angle parameter is less than lower limit or upper limit of Joint angle if specified angle parameter is greater than upper limit. Otherwise returns specified angle.

Parameters:

angleInXml -

Returns: