JointLimit.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
import com.neuronrobotics.sdk.pid.PIDLimitEvent;
import com.neuronrobotics.sdk.pid.PIDLimitEventType;
 
// TODO: Auto-generated Javadoc
public class JointLimit {
    
    private int axis;
    
    private double value; 
    
    private long timeStamp;
    
    private PIDLimitEventType limitType;
    
    public JointLimit(int axis, PIDLimitEvent e, LinkConfiguration linkConfiguration) {
        setAxis(axis);
        setValue(e.getValue()*linkConfiguration.getScale());
        setTimeStamp(e.getTimeStamp());
        setLimitType(e.getLimitType());
    }
    
    public void setAxis(int axis) {
        this.axis = axis;
    }
    
    public int getAxis() {
        return axis;
    }
    
    public void setValue(double value) {
        this.value = value;
    }
    
    public double getValue() {
        return value;
    }
    
    public void setTimeStamp(long timeStamp) {
        this.timeStamp = timeStamp;
    }
    
    public long getTimeStamp() {
        return timeStamp;
    }
    
    public void setLimitType(PIDLimitEventType limitType) {
        this.limitType = limitType;
    }
    
    public PIDLimitEventType getLimitType() {
        return limitType;
    }
    
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    public String toString(){
        return "Axis="+getAxis()+" "+getLimitType().toString();
    }
}