ILinkFactoryProvider.java

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package com.neuronrobotics.sdk.pid;
 
import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
 
// TODO: Auto-generated Javadoc
public interface ILinkFactoryProvider {
    
    LinkConfiguration requestLinkConfiguration(int index);
    
    public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds);
    
    public TransformNR getCurrentTaskSpaceTransform();
    
    
    public TransformNR setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds);
    
    public void setDesiredJointAxisValue(int axis, double value, double seconds) ;
 
 
}