AbstractRotoryLink.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
// TODO: Auto-generated Javadoc
public abstract class AbstractRotoryLink extends AbstractLink {
 
    public AbstractRotoryLink(LinkConfiguration conf) {
        super(conf);
        // TODO Auto-generated constructor stub
    }
    
    public void incrementAngle(double inc){
        incrementEngineeringUnits(inc);
    }
    
    public void setTargetAngle(double pos) {
        setTargetEngineeringUnits(pos);
    }
    
    public void setCurrentAsAngle(double angle) {
        setCurrentEngineeringUnits(angle);
    }
    
    public double getCurrentAngle(){
        return getCurrentEngineeringUnits();
    }
    
    public double getTargetAngle() {
        return getTargetEngineeringUnits();
    }
    
    public double getMaxAngle() {
        return getMaxEngineeringUnits();
    }
    
    public double getMinAngle() {
        return getMinEngineeringUnits();
    }
    
    public boolean isMaxAngle() {
        return isMaxEngineeringUnits();
    }
    
    public boolean isMinAngle() {
        return isMinEngineeringUnits();
    }
 
}