Inheritance diagram for com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration:

Collaboration diagram for com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration:

[legend]

Public Member Functions
	LinkConfiguration (Element eElement)

	LinkConfiguration (Object[] args)

void	setVitamin (String name, String type, String id)

void	setVitaminVariant (String name, String tagValue2)

String	getVitaminVariant (String name)

	LinkConfiguration ()

	LinkConfiguration (LinkConfiguration from)

	LinkConfiguration (int home, int llimit, int ulimit, double d)

String	toString ()

String	getXml ()

void	setName (String name)

String	getName ()

void	setHardwareIndex (int index)

int	getHardwareIndex ()

void	setScale (double scale)

double	getScale ()

double	getDeviceTheoreticalMax ()

void	setDeviceTheoreticalMax (double deviceTheoreticalMax)

double	getDeviceTheoreticalMin ()

void	setDeviceTheoreticalMin (double deviceTheoreticalMin)

void	setUpperLimit (double upperLimit)

double	getUpperLimit ()

void	setLowerLimit (double lowerLimit)

double	getLowerLimit ()

double	getKP ()

double	getKI ()

double	getKD ()

void	setKP (double kP)

void	setKI (double kI)

void	setKD (double kD)

void	setInverted (boolean inverted)

boolean	isInverted ()

void	setIndexLatch (double indexLatch)

double	getIndexLatch ()

void	setLatch (boolean isLatch)

boolean	isLatch ()

void	setStopOnLatch (boolean isStopOnLatch)

boolean	isStopOnLatch ()

void	setHomingTicksPerSecond (int homingTicksPerSecond)

int	getHomingTicksPerSecond ()

void	setUpperVelocity (double upperVelocity)

double	getUpperVelocity ()

double	getLowerVelocity ()

int	getLinkIndex ()

void	setLinkIndex (int linkIndex)

int	getTotlaNumberOfLinks ()

void	setTotlaNumberOfLinks (int totlaNumberOfLinks)

PIDConfiguration	getPidConfiguration ()

void	setPidConfiguration (IPidControlNamespace pid)

String	getDeviceScriptingName ()

void	setDeviceScriptingName (String deviceScriptingName)

double	getStaticOffset ()

void	setStaticOffset (double staticOffset)

boolean	isInvertLimitVelocityPolarity ()

void	setInvertLimitVelocityPolarity (boolean invertVelocity)

ArrayList< LinkConfiguration >	getSlaveLinks ()

void	setSlaveLinks (ArrayList< LinkConfiguration > slaveLinks)

double	getMassKg ()

void	setMassKg (double mass)

TransformNR	getCenterOfMassFromCentroid ()

void	setCenterOfMassFromCentroid (TransformNR com)

TransformNR	getimuFromCentroid ()

void	setimuFromCentroid (TransformNR imu)

String	getElectroMechanicalType ()

void	setElectroMechanicalType (String electroMechanicalType)

String	getElectroMechanicalSize ()

void	setElectroMechanicalSize (String electroMechanicalSize)

String	getShaftType ()

void	setShaftType (String shaftType)

String	getShaftSize ()

void	setShaftSize (String shaftSize)

boolean	isPassive ()

void	setPassive (boolean passive)

HashMap< String, String[]>	getVitamins ()

void	setVitamins (HashMap< String, String[]> vitamins)

String	getTypeString ()

void	setTypeString (String typeString)

boolean	isVirtual ()

boolean	isTool ()

boolean	isPrismatic ()

void	addChangeListener (ILinkConfigurationChangeListener l)

void	removeChangeListener (ILinkConfigurationChangeListener l)

void	clearChangeListener ()

ArrayList< ILinkConfigurationChangeListener >	getListeners ()

void	event (TransformNR changed)

boolean	isPauseEvents ()

void	setPauseEvents (boolean pauseEvents)

Protected Member Functions
void	getVitamins (Element doc)

Private Member Functions
String[]	getCoreShaftPart ()

String[]	getCoreEmPart ()

Private Attributes
ArrayList< ILinkConfigurationChangeListener >	listeners = null

boolean	pauseEvents =false

String	name = "newLink"

String	type = "virtual"

int	index = 0

int	totlaNumberOfLinks = 1

int	linkIndex = 0

double	scale = 1.0

double	upperLimit = 100000

double	lowerLimit = -100000

double	k [] = new double[] { 1, 0, 0 }

boolean	inverted = false

boolean	isLatch = false

double	indexLatch = 0

boolean	isStopOnLatch = false

int	homingTicksPerSecond = 10000000

double	velocityLimit = 100000000

String	deviceScriptingName = "exampleDevice"

double	deviceTheoreticalMax = 180

double	deviceTheoreticalMin = 0

double	mass = 0.01

TransformNR	centerOfMassFromCentroid = new TransformNR()

TransformNR	imuFromCentroid = new TransformNR()

double	staticOffset = 0

ArrayList< LinkConfiguration >	slaveLinks = new ArrayList<LinkConfiguration>()

boolean	invertVelocity = false

boolean	invertLimitVelocityPolarity = false

HashMap< String, String[]>	vitamins = new HashMap<String, String[]>()

HashMap< String, String >	vitaminVariant = new HashMap<String, String>()

boolean	passive = false

boolean	newAbs = false

Detailed Description

The Class LinkConfiguration.

Definition at line 25 of file LinkConfiguration.java.

Constructor & Destructor Documentation

◆ LinkConfiguration() [1/5]

com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration ( Element eElement )

Instantiates a new link configuration.

Parameters

eElement the e element

Definition at line 109 of file LinkConfiguration.java.

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◆ LinkConfiguration() [2/5]

com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration ( Object[] args )

Instantiates a new link configuration.

Parameters

args the args

Definition at line 258 of file LinkConfiguration.java.

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◆ LinkConfiguration() [3/5]

com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration ( )

Instantiates a new link configuration.

Definition at line 339 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ LinkConfiguration() [4/5]

com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration ( LinkConfiguration from )

Definition at line 343 of file LinkConfiguration.java.

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◆ LinkConfiguration() [5/5]

com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration	(	int	home,
		int	llimit,
		int	ulimit,
		double	d
	)

Instantiates a new link configuration.

Parameters

home	the home
llimit	the llimit
ulimit	the ulimit
d	the d

Definition at line 383 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setScale(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStaticOffset(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperLimit().

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Member Function Documentation

◆ addChangeListener()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.addChangeListener ( ILinkConfigurationChangeListener l )

Definition at line 1094 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getListeners().

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.addChangeListener().

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◆ clearChangeListener()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.clearChangeListener ( )

Definition at line 1104 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getListeners(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.listeners.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.clearChangeListener().

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◆ event()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.event ( TransformNR changed )

Implements com.neuronrobotics.sdk.addons.kinematics.math.ITransformNRChangeListener.

Definition at line 1130 of file LinkConfiguration.java.

◆ getCenterOfMassFromCentroid()

TransformNR com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCenterOfMassFromCentroid ( )

Definition at line 925 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.centerOfMassFromCentroid.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ getCoreEmPart()

String [] com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreEmPart ( )

private

Definition at line 960 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitamins.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getElectroMechanicalSize(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getElectroMechanicalType(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setElectroMechanicalSize(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setElectroMechanicalType().

◆ getCoreShaftPart()

String [] com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreShaftPart ( )

private

Definition at line 953 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitamins.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getShaftSize(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getShaftType(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setShaftSize(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setShaftType().

◆ getDeviceScriptingName()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceScriptingName ( )

Gets the device scripting name.

Returns: the device scripting name

Definition at line 861 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceScriptingName.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getDyio(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getGCODE(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getPid(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ getDeviceTheoreticalMax()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMax ( )

Definition at line 513 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceTheoreticalMax.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getDeviceMaximumValue(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setIndexLatch(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperLimit().

◆ getDeviceTheoreticalMin()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMin ( )

Definition at line 522 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceTheoreticalMin.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getDeviceMinimumValue(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setIndexLatch(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLowerLimit().

◆ getElectroMechanicalSize()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getElectroMechanicalSize ( )

Definition at line 976 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreEmPart().

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◆ getElectroMechanicalType()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getElectroMechanicalType ( )

Definition at line 967 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreEmPart().

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◆ getHardwareIndex()

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHardwareIndex ( )

gets the hardware index for maping this kinematics link to its assocaited hardware index.

Returns: the hardware index

Definition at line 490 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.index.

◆ getHomingTicksPerSecond()

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHomingTicksPerSecond ( )

Gets the homing ticks per second.

Returns: the homing ticks per second

Definition at line 736 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.homingTicksPerSecond.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ getimuFromCentroid()

TransformNR com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getimuFromCentroid ( )

Definition at line 937 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.imuFromCentroid.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ getIndexLatch()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getIndexLatch ( )

Gets the index latch.

Returns: the index latch

Definition at line 680 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.indexLatch.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ getKD()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getKD ( )

Gets the kd.

Returns: the kd

Definition at line 607 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ getKI()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getKI ( )

Gets the ki.

Returns: the ki

Definition at line 598 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ getKP()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getKP ( )

Gets the kp.

Returns: the kp

Definition at line 589 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ getLinkIndex()

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLinkIndex ( )

THis is the index of this link in its kinematics chain.

Returns: the link index

Definition at line 782 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.linkIndex.

Referenced by com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager._generateStls().

◆ getListeners()

ArrayList<ILinkConfigurationChangeListener> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getListeners ( )

Definition at line 1109 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.listeners.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.addChangeListener(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.clearChangeListener(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.removeChangeListener().

◆ getLowerLimit()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerLimit ( )

Gets the lower limit.

Returns: the lower limit

Definition at line 580 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.lowerLimit.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDesiredJointAxisValue(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStaticOffset(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ getLowerVelocity()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerVelocity ( )

Gets the lower velocity.

Returns: the lower velocity

Definition at line 773 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.velocityLimit.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml().

◆ getMassKg()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getMassKg ( )

Definition at line 916 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.mass.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

◆ getName()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getName ( )

Gets the name.

Returns: the name

Definition at line 469 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.name.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.AbstractLink(), com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ getPidConfiguration()

PIDConfiguration com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration ( )

Gets the pid configuration.

Returns: the pid configuration

Definition at line 820 of file LinkConfiguration.java.

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◆ getScale()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getScale ( )

Gets the scale.

Returns: the scale

Definition at line 509 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.scale.

◆ getShaftSize()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getShaftSize ( )

Definition at line 994 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreShaftPart().

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◆ getShaftType()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getShaftType ( )

Definition at line 985 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreShaftPart().

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◆ getSlaveLinks()

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getSlaveLinks ( )

Definition at line 907 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.slaveLinks.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.AbstractLink(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.loadConfig().

◆ getStaticOffset()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getStaticOffset ( )

Gets the static offset.

Returns: the static offset

Definition at line 880 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.staticOffset.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getHome(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ getTotlaNumberOfLinks()

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTotlaNumberOfLinks ( )

Gets the totla number of links.

Returns: the totla number of links

Definition at line 801 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.totlaNumberOfLinks.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.LinkFactory().

◆ getTypeString()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTypeString ( )

Definition at line 1021 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.type.

Referenced by com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPrismatic(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isTool(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isVirtual(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ getUpperLimit()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperLimit ( )

Gets the upper limit.

Returns: the upper limit

Definition at line 553 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.upperLimit.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getUpperLimit(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDesiredJointAxisValue(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStaticOffset(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ getUpperVelocity()

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperVelocity ( )

Gets the upper velocity.

Returns: the upper velocity

Definition at line 764 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.velocityLimit.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getMaxVelocityEngineeringUnits(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ getVitamins() [1/2]

HashMap<String, String[]> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitamins ( )

Definition at line 1012 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitamins.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamin().

◆ getVitamins() [2/2]

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitamins ( Element doc )

protected

Gets the vitamins.

Parameters

doc the doc

Definition at line 275 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory.getTagValue(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamin(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitaminVariant().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ getVitaminVariant()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitaminVariant ( String name )

Get a purchaing code for a vitamin

Parameters

name	name of vitamin

Returns

Definition at line 332 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.name, and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitaminVariant.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml().

◆ getXml()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml ( )

Gets the xml.

Returns: the xml

Definition at line 418 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.getEmbedableXml().

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◆ isInverted()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isInverted ( )

Checks if is inverted.

Returns: true, if is inverted

Definition at line 656 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.inverted.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ isInvertLimitVelocityPolarity()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isInvertLimitVelocityPolarity ( )

Definition at line 898 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.invertLimitVelocityPolarity.

◆ isLatch()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isLatch ( )

Checks if is latch.

Returns: true, if is latch

Definition at line 698 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isLatch.

◆ isPassive()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPassive ( )

Definition at line 1003 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.passive.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

◆ isPauseEvents()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPauseEvents ( )

Definition at line 1134 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.pauseEvents.

◆ isPrismatic()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPrismatic ( )

Checks if is prismatic.

Returns: true, if is prismatic

Definition at line 1078 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTypeString().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), and com.neuronrobotics.bowlerstudio.physics.MobileBasePhysicsManager.MobileBasePhysicsManager().

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◆ isStopOnLatch()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isStopOnLatch ( )

Checks if is stop on latch.

Returns: true, if is stop on latch

Definition at line 717 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isStopOnLatch.

◆ isTool()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isTool ( )

Checks if is tool.

Returns: true, if is tool

Definition at line 1057 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTypeString().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink().

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◆ isVirtual()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isVirtual ( )

Checks if is virtual.

Returns: true, if is virtual

Definition at line 1037 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTypeString().

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◆ removeChangeListener()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.removeChangeListener ( ILinkConfigurationChangeListener l )

Definition at line 1099 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getListeners().

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.removeChangeListener().

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◆ setCenterOfMassFromCentroid()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setCenterOfMassFromCentroid ( TransformNR com )

Definition at line 929 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.addChangeListener(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.removeChangeListener().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setDeviceScriptingName()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceScriptingName ( String deviceScriptingName )

Sets the device scripting name.

Parameters

deviceScriptingName the new device scripting name

Definition at line 870 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceScriptingName.

Referenced by com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setDeviceTheoreticalMax()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceTheoreticalMax ( double deviceTheoreticalMax )

Definition at line 517 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceTheoreticalMax.

Referenced by com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.MockRotoryLink.MockRotoryLink(), com.neuronrobotics.sdk.addons.kinematics.PidPrismaticLink.PidPrismaticLink(), com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink.PidRotoryLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setDeviceMaximumValue(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperLimit().

◆ setDeviceTheoreticalMin()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceTheoreticalMin ( double deviceTheoreticalMin )

Definition at line 526 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceTheoreticalMin.

Referenced by com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.MockRotoryLink.MockRotoryLink(), com.neuronrobotics.sdk.addons.kinematics.PidPrismaticLink.PidPrismaticLink(), com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink.PidRotoryLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setDeviceMinimumValue(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLowerLimit().

◆ setElectroMechanicalSize()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setElectroMechanicalSize ( String electroMechanicalSize )

Definition at line 980 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreEmPart().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setElectroMechanicalType()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setElectroMechanicalType ( String electroMechanicalType )

Definition at line 971 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreEmPart().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setHardwareIndex()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setHardwareIndex ( int index )

sets the hardware index for maping this kinematics link to its assocaited hardware index.

Parameters

index the new hardware index

Definition at line 479 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.index.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setHomingTicksPerSecond()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setHomingTicksPerSecond ( int homingTicksPerSecond )

Sets the homing ticks per second.

Parameters

homingTicksPerSecond the new homing ticks per second

Definition at line 726 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.homingTicksPerSecond.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration().

◆ setimuFromCentroid()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setimuFromCentroid ( TransformNR imu )

Definition at line 941 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.addChangeListener(), and com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.removeChangeListener().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setIndexLatch()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setIndexLatch ( double indexLatch )

Sets the index latch.

Parameters

indexLatch the new index latch

Definition at line 665 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMax(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMin(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.indexLatch.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setInverted()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setInverted ( boolean inverted )

Sets the inverted.

Parameters

inverted the new inverted

Definition at line 646 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.inverted.

◆ setInvertLimitVelocityPolarity()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setInvertLimitVelocityPolarity ( boolean invertVelocity )

Definition at line 902 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.invertVelocity.

◆ setKD()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setKD ( double kD )

Sets the kd.

Parameters

kD	the new kd

Definition at line 636 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k.

◆ setKI()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setKI ( double kI )

Sets the ki.

Parameters

kI	the new ki

Definition at line 626 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k.

◆ setKP()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setKP ( double kP )

Sets the kp.

Parameters

kP	the new kp

Definition at line 616 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k.

◆ setLatch()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLatch ( boolean isLatch )

Sets the latch.

Parameters

isLatch the new latch

Definition at line 689 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isLatch.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setLinkIndex()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLinkIndex ( int linkIndex )

This sets the index of the link in itts kinematic chain.

Parameters

linkIndex the new link index

Definition at line 791 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.linkIndex.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ setLowerLimit()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLowerLimit ( double lowerLimit )

Sets the lower limit.

Parameters

lowerLimit the new lower limit

Definition at line 562 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMin(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.lowerLimit, com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.newAbs, and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceTheoreticalMin().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setCurrentAsLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setMaxEngineeringUnits(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setMinEngineeringUnits().

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◆ setMassKg()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setMassKg ( double mass )

Definition at line 920 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.mass.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setName()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setName ( String name )

Sets the name.

Parameters

name	the new name

Definition at line 458 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.common.Log.info(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.name.

Referenced by com.neuronrobotics.bowlerstudio.scripting.RobotHelper.getDefaultContents(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setPassive()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPassive ( boolean passive )

Definition at line 1007 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.passive.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setPauseEvents()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPauseEvents ( boolean pauseEvents )

Definition at line 1138 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.pauseEvents.

Referenced by com.neuronrobotics.sdk.addons.kinematics.MockRotoryLink.MockRotoryLink(), com.neuronrobotics.sdk.addons.kinematics.PidPrismaticLink.PidPrismaticLink(), and com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink.PidRotoryLink().

◆ setPidConfiguration()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration ( IPidControlNamespace pid )

Sets the pid configuration.

Parameters

pid	the new pid configuration

Definition at line 837 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.LinkFactory().

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◆ setScale()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setScale ( double scale )

Sets the scale.

Parameters

scale the new scale

Definition at line 499 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.scale.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setCurrentEngineeringUnits(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setScale().

◆ setShaftSize()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setShaftSize ( String shaftSize )

Definition at line 998 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreShaftPart().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setShaftType()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setShaftType ( String shaftType )

Definition at line 989 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreShaftPart().

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

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◆ setSlaveLinks()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setSlaveLinks ( ArrayList< LinkConfiguration > slaveLinks )

Definition at line 911 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.slaveLinks.

◆ setStaticOffset()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStaticOffset ( double staticOffset )

Sets the static offset.

Parameters

staticOffset the new static offset

Definition at line 889 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerLimit(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperLimit(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.staticOffset.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setHome().

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◆ setStopOnLatch()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStopOnLatch ( boolean isStopOnLatch )

Sets the stop on latch.

Parameters

isStopOnLatch the new stop on latch

Definition at line 707 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isStopOnLatch.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setTotlaNumberOfLinks()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setTotlaNumberOfLinks ( int totlaNumberOfLinks )

Sets the totla number of links.

Parameters

totlaNumberOfLinks the new totla number of links

Definition at line 810 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.totlaNumberOfLinks.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setTypeString()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setTypeString ( String typeString )

Definition at line 1025 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.type.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ setUpperLimit()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperLimit ( double upperLimit )

Sets the upper limit.

Parameters

upperLimit the new upper limit

Definition at line 536 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMax(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.newAbs, com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceTheoreticalMax(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.upperLimit.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setCurrentAsUpperLimit(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setMaxEngineeringUnits(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setMinEngineeringUnits(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setUpperLimit().

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◆ setUpperVelocity()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperVelocity ( double upperVelocity )

Sets the upper velocity.

Parameters

upperVelocity the new upper velocity

Definition at line 754 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setMaxVelocityEngineeringUnits().

◆ setVitamin()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamin	(	String	name,
		String	type,
		String	id
	)

Add a vitamin to this link

Parameters

name	the name of this vitamin, if the name already exists, the data will be overwritten.
type	the vitamin type, this maps the the json filename
id	the part ID, theis maps to the key in the json for the vitamin

Definition at line 306 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitamins(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.name, and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.type.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitamins().

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◆ setVitamins()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamins ( HashMap< String, String[]> vitamins )

Definition at line 1016 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitamins.

◆ setVitaminVariant()

void com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitaminVariant	(	String	name,
		String	tagValue2
	)

Set a purchasing code for a vitamin

Parameters

name	name of vitamin
tagValue2	Purchaning code

Definition at line 321 of file LinkConfiguration.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.name, and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitaminVariant.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitamins().

◆ toString()

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString ( )

Definition at line 396 of file LinkConfiguration.java.

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Member Data Documentation

◆ centerOfMassFromCentroid

TransformNR com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.centerOfMassFromCentroid = new TransformNR()

private

Definition at line 80 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCenterOfMassFromCentroid().

◆ deviceScriptingName

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceScriptingName = "exampleDevice"

private

The device scripting name.

Definition at line 76 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceScriptingName(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceScriptingName(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.toString().

◆ deviceTheoreticalMax

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceTheoreticalMax = 180

private

Definition at line 77 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMax(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceTheoreticalMax().

◆ deviceTheoreticalMin

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.deviceTheoreticalMin = 0

private

Definition at line 78 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceTheoreticalMin(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setDeviceTheoreticalMin().

◆ homingTicksPerSecond

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.homingTicksPerSecond = 10000000

private

The homing ticks per second.

Definition at line 70 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHomingTicksPerSecond(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setHomingTicksPerSecond().

◆ imuFromCentroid

TransformNR com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.imuFromCentroid = new TransformNR()

private

Definition at line 81 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getimuFromCentroid().

◆ index

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.index = 0

private

The index.

Definition at line 35 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHardwareIndex(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setHardwareIndex().

◆ indexLatch

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.indexLatch = 0

private

The index latch.

Definition at line 64 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getIndexLatch(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setIndexLatch(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration().

◆ inverted

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.inverted = false

private

The inverted.

Definition at line 58 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isInverted(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setInverted(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration().

◆ invertLimitVelocityPolarity

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.invertLimitVelocityPolarity = false

private

This is the flag for setting the direction of the velocity lock out for limit switches

Definition at line 97 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isInvertLimitVelocityPolarity(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration().

◆ invertVelocity

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.invertVelocity = false

private

This is the flag for setting the direction of the velocity lock out for limit switches

Definition at line 91 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setInvertLimitVelocityPolarity().

◆ isLatch

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isLatch = false

private

The is latch.

Definition at line 61 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isLatch(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLatch(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration().

◆ isStopOnLatch

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isStopOnLatch = false

private

The is stop on latch.

Definition at line 67 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getPidConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isStopOnLatch(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStopOnLatch().

◆ k

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.k[] = new double[] { 1, 0, 0 }

private

The k.

Definition at line 55 of file LinkConfiguration.java.

◆ linkIndex

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.linkIndex = 0

private

The link index.

Definition at line 41 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLinkIndex(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLinkIndex().

◆ listeners

ArrayList<ILinkConfigurationChangeListener> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.listeners = null

private

Definition at line 26 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.clearChangeListener(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getListeners().

◆ lowerLimit

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.lowerLimit = -100000

private

The lower limit.

Definition at line 52 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerLimit(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLowerLimit().

◆ mass

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.mass = 0.01

private

Definition at line 79 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getMassKg(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setMassKg().

◆ name

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.name = "newLink"

private

The name.

Definition at line 29 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getName(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitaminVariant(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setName(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamin(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitaminVariant().

◆ newAbs

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.newAbs = false

private

Definition at line 102 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setLowerLimit(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperLimit().

◆ passive

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.passive = false

private

Definition at line 101 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPassive(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPassive().

◆ pauseEvents

boolean com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.pauseEvents =false

private

Definition at line 27 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPauseEvents(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPauseEvents().

◆ scale

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.scale = 1.0

private

The scale.

Definition at line 46 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getScale(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setScale().

◆ slaveLinks

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.slaveLinks = new ArrayList<LinkConfiguration>()

private

Definition at line 85 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getSlaveLinks(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getXml(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setSlaveLinks().

◆ staticOffset

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.staticOffset = 0

private

The static offset.

Definition at line 83 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getStaticOffset(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.LinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setStaticOffset().

◆ totlaNumberOfLinks

int com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.totlaNumberOfLinks = 1

private

The totla number of links.

Definition at line 38 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTotlaNumberOfLinks(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setTotlaNumberOfLinks().

◆ type

String com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.type = "virtual"

private

The type.

Definition at line 32 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTypeString(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setTypeString(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamin().

◆ upperLimit

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.upperLimit = 100000

private

The upper limit.

Definition at line 49 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperLimit(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setUpperLimit().

◆ velocityLimit

double com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.velocityLimit = 100000000

private

The upper velocity.

Definition at line 73 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getLowerVelocity(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getUpperVelocity().

◆ vitamins

HashMap<String, String[]> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitamins = new HashMap<String, String[]>()

private

Definition at line 99 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreEmPart(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getCoreShaftPart(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitamins(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitamins().

◆ vitaminVariant

HashMap<String, String> com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.vitaminVariant = new HashMap<String, String>()

private

Definition at line 100 of file LinkConfiguration.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getVitaminVariant(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setVitaminVariant().

The documentation for this class was generated from the following file:

java-bowler/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LinkConfiguration() [1/5]

◆ LinkConfiguration() [2/5]

◆ LinkConfiguration() [3/5]

◆ LinkConfiguration() [4/5]

◆ LinkConfiguration() [5/5]

Member Function Documentation

◆ addChangeListener()

◆ clearChangeListener()

◆ event()

◆ getCenterOfMassFromCentroid()

◆ getCoreEmPart()

◆ getCoreShaftPart()

◆ getDeviceScriptingName()

◆ getDeviceTheoreticalMax()

◆ getDeviceTheoreticalMin()

◆ getElectroMechanicalSize()

◆ getElectroMechanicalType()

◆ getHardwareIndex()

◆ getHomingTicksPerSecond()

◆ getimuFromCentroid()

◆ getIndexLatch()

◆ getKD()

◆ getKI()

◆ getKP()

◆ getLinkIndex()

◆ getListeners()

◆ getLowerLimit()

◆ getLowerVelocity()

◆ getMassKg()

◆ getName()

◆ getPidConfiguration()

◆ getScale()

◆ getShaftSize()

◆ getShaftType()

◆ getSlaveLinks()

◆ getStaticOffset()

◆ getTotlaNumberOfLinks()

◆ getTypeString()

◆ getUpperLimit()

◆ getUpperVelocity()

◆ getVitamins() [1/2]

◆ getVitamins() [2/2]

◆ getVitaminVariant()

◆ getXml()

◆ isInverted()

◆ isInvertLimitVelocityPolarity()

◆ isLatch()

◆ isPassive()

◆ isPauseEvents()

◆ isPrismatic()

◆ isStopOnLatch()

◆ isTool()

◆ isVirtual()

◆ removeChangeListener()

◆ setCenterOfMassFromCentroid()

◆ setDeviceScriptingName()

◆ setDeviceTheoreticalMax()

◆ setDeviceTheoreticalMin()

◆ setElectroMechanicalSize()

◆ setElectroMechanicalType()

◆ setHardwareIndex()

◆ setHomingTicksPerSecond()

◆ setimuFromCentroid()

◆ setIndexLatch()

◆ setInverted()

◆ setInvertLimitVelocityPolarity()

◆ setKD()

◆ setKI()

◆ setKP()

◆ setLatch()

◆ setLinkIndex()

◆ setLowerLimit()

◆ setMassKg()

◆ setName()