Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.pose.poses

Class Limb

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.pose.Pose

com.marginallyclever.ro3.node.nodes.pose.poses.Limb

All Implemented Interfaces:

PoseChangeListener, EventListener

public class Limb
extends Pose

Limb is a linear chain of bones driven by joints powered by muscles. Bones are represented by Poses. Joints are represented by HingeJoints. Muscles are represented by Motors. The end of the chain - at the wrist - is a Pose called the end effector.

Limbs only perform Forward Kinematics - given the angle of each joint, they calculate the world space position of the end effector. For more sophisticated behavior, use a LimbSolver.

Limb is designed to handle six joints or less.

Field Summary

Fields

Modifier and Type	Field	Description
static final int	MAX_JOINTS

Constructor Summary

Constructors

Constructor	Description
Limb()
Limb(String name)

Method Summary

Modifier and Type	Method	Description
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
double[]	getAllJointAngles()
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
NodePath<Pose>	getEndEffector()
Icon	getIcon()	Set a custom icon for this node.
Motor	getJoint(int index)	Get the motor at the given index.
List<NodePath<Motor>>	getMotors()
int	getNumJoints()
void	setAllJointAngles(double[] values)
void	setAllJointVelocities(double[] values)
void	setJoint(int index, Motor newValue)	Get the motor at the given index.
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.

Methods inherited from class com.marginallyclever.ro3.node.nodes.pose.Pose

addPoseChangeListener, getLocal, getParentPose, getPosition, getRotationEuler, getRotationIndex, getWorld, onPoseChange, removePoseChangeListener, setLocal, setPosition, setRotationEuler, setRotationIndex, setWorld

Methods inherited from class com.marginallyclever.ro3.node.Node

addAttachListener, addChild, addChild, addDetachListener, addReadyListener, addRenameListener, findByPath, findChild, findChild, findFirstChild, findFirstSibling, findNodeByID, findParent, findParent, getAbsolutePath, getChildren, getName, getParent, getRootNode, getUniqueID, hasParent, isNameUsedBySibling, removeAttachListener, removeChild, removeDetachListener, removeReadyListener, removeRenameListener, setName, update, witnessProtection

Methods inherited from class java.lang.Object

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

Field Details

MAX_JOINTS

public static final int MAX_JOINTS

See Also:

• Constant Field Values

Constructor Details

Limb

public Limb()

Limb

public Limb(String name)

Method Details

getEndEffector

public NodePath<Pose> getEndEffector()

Returns:

the end effector pose or null if not set.

getMotors

public List<NodePath<Motor>> getMotors()

getNumJoints

public int getNumJoints()

getJoint

public Motor getJoint(int index)

Get the motor at the given index.

Parameters:

index - the index of the motor to get.

Returns:

the motor at the given index.

Throws:

IndexOutOfBoundsException - if the index is out of range.

getAllJointAngles

public double[] getAllJointAngles()

setJoint

public void setJoint(int index,
 Motor newValue)

Get the motor at the given index.

Parameters:

index - the index of the motor to get.

newValue - the new motor to set.

Throws:

IndexOutOfBoundsException - if the index is out of range.

setAllJointAngles

public void setAllJointAngles(double[] values)

setAllJointVelocities

public void setAllJointVelocities(double[] values)

toJSON

public org.json.JSONObject toJSON()

Description copied from class: Node

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Overrides:

toJSON in class Pose

Returns:

the JSON object.

fromJSON

public void fromJSON(org.json.JSONObject from)

Description copied from class: Node

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Overrides:

fromJSON in class Pose

Parameters:

from - the JSON object to read from.

getComponents

public void getComponents(List<JPanel> list)

Description copied from class: Pose

Build a Swing Component that represents this Node.

Overrides:

getComponents in class Pose

Parameters:

list - the list to add components to.

getIcon

public Icon getIcon()

Description copied from class: Node

Set a custom icon for this node.

Overrides:

getIcon in class Pose

Returns:

the icon, or null if none.