com.neuronrobotics.sdk.addons.kinematics.LinkFactory Class Reference

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

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

Public Member Functions
	LinkFactory ()
	LinkFactory (BowlerAbstractDevice bad)
	LinkFactory (ILinkFactoryProvider connection, IExtendedPIDControl d)
AbstractLink	getLink (String name)
AbstractLink	getLink (LinkConfiguration c)
void	refreshHardwareLayer (LinkConfiguration c)
void	addLink (AbstractLink link)
double[]	getLowerLimits ()
double[]	getUpperLimits ()
void	addLinkListener (ILinkListener l)
void	flush (final double seconds)
IPidControlNamespace	getPid (LinkConfiguration c)
DyIO	getDyio (LinkConfiguration c)
GcodeDevice	getGCODE (LinkConfiguration c)
void	setCachedTargets (double[] jointSpaceVect)
boolean	isConnected ()
ArrayList< LinkConfiguration >	getLinkConfigurations ()
void	removeLinkListener (AbstractKinematicsNR l)
void	deleteLink (int i)
void	sync ()
VirtualGenericPIDDevice	getVirtual (String myVirtualDevName)
Public Member Functions inherited from com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider
default void	addIHardwareSyncPulseReciver (IHardwareSyncPulseReciver r)
default void	removeIHardwareSyncPulseReciver (IHardwareSyncPulseReciver r)
default void	doSync ()
default ArrayList< IHardwareSyncPulseReciver >	getListeners ()

Static Public Member Functions
static void	addLinkProvider (String typeTag, INewLinkProvider provider)
static boolean	linkProviderExists (String typeTag)

Private Member Functions
AbstractLink	getLinkLocal (LinkConfiguration c)

Private Attributes
ArrayList< AbstractLink >	links = new ArrayList<AbstractLink>()
ArrayList< LinkConfiguration >	linkConfigurations = null

Static Private Attributes
static HashMap< String, INewLinkProvider >	userLinkProviders = new HashMap<String, INewLinkProvider>()

Additional Inherited Members
Public Attributes inherited from com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider
HashMap< IHardwareSyncPulseProvider, ArrayList< IHardwareSyncPulseReciver > >	syncPulse =new HashMap<>()

Detailed Description

A factory for creating Link objects.

Definition at line 27 of file LinkFactory.java.

Constructor & Destructor Documentation

LinkFactory() [1/3]

com.neuronrobotics.sdk.addons.kinematics.LinkFactory.LinkFactory

(

)

Instantiates a new link factory.

Definition at line 61 of file LinkFactory.java.

LinkFactory() [2/3]

com.neuronrobotics.sdk.addons.kinematics.LinkFactory.LinkFactory

(

BowlerAbstractDevice

bad

)

Instantiates a new link factory.

Parameters

bad

the bad

Definition at line 70 of file LinkFactory.java.

References com.neuronrobotics.sdk.common.DeviceManager.addConnection(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.getScriptingName().

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LinkFactory() [3/3]

com.neuronrobotics.sdk.addons.kinematics.LinkFactory.LinkFactory	(	ILinkFactoryProvider	connection,
		IExtendedPIDControl	d
	)

Instantiates a new link factory.

Parameters

connection	the connection
d	the d

Definition at line 81 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTotlaNumberOfLinks(), com.neuronrobotics.sdk.pid.ILinkFactoryProvider.requestLinkConfiguration(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration().

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Member Function Documentation

addLink()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLink

(

AbstractLink

link

)

THis interface lets the user add a link after instantiation

Parameters

link	the link to be added in order

Definition at line 235 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.removeLimb(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

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addLinkListener()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLinkListener

(

ILinkListener

l

)

Adds the link listener.

Parameters

l

the l

Definition at line 272 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

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

addLinkProvider()

static void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLinkProvider ( String  typeTag, INewLinkProvider  provider  )

static

Add a new link provider

Parameters

typeTag	a string to link it to the string in the XML that determines type
provider	the provider module

Definition at line 43 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkType.addType(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.userLinkProviders.

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deleteLink()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.deleteLink

(

int

i

)

Delete link.

Parameters

i

the i

Definition at line 407 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

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

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flush()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.flush

(

final double

seconds

)

Flush.

Parameters

seconds

the seconds

Definition at line 283 of file LinkFactory.java.

References com.neuronrobotics.sdk.common.IFlushable.flush(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.flush(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), and com.neuronrobotics.sdk.common.DeviceManager.getSpecificDevice().

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

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getDyio()

DyIO com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getDyio

(

LinkConfiguration

c

)

Gets the dyio.

Returns

the dyio from the database.

Definition at line 325 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceScriptingName(), and com.neuronrobotics.sdk.common.DeviceManager.getSpecificDevice().

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.DHParameterKinematics(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal().

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getGCODE()

GcodeDevice com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getGCODE

(

LinkConfiguration

c

)

Gets the Gcode device from the database.

Returns

the GCODE device

Definition at line 336 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceScriptingName(), and com.neuronrobotics.sdk.common.DeviceManager.getSpecificDevice().

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

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getLink() [1/2]

AbstractLink com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink

(

LinkConfiguration

c

)

Gets the link.

Parameters

c

the c

Returns

the link

Definition at line 121 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

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getLink() [2/2]

AbstractLink com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink

(

String

name

)

Gets the link.

Parameters

name

the name

Returns

the link

Definition at line 103 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getName(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

Referenced by com.neuronrobotics.sdk.addons.kinematics.AbstractLink.AbstractLink(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.addNewLink(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.cacheTargetValue(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.checkVector(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.flush(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.flush(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.flushAll(), com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager.generateCad(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.LinkFactory(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.refreshHardwareLayer(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setPosition(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setTargetValue(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

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getLinkConfigurations()

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations

(

)

Gets the link configurations.

Returns

the link configurations

Definition at line 383 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.linkConfigurations.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.deleteLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.flush(), com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematicsMatrix(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.isConnected(), com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics.setChain(), and com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup.setupReferencedLimbStartup().

getLinkLocal()

AbstractLink com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal ( LinkConfiguration  c )

private

Gets the link local.

Parameters

c

the c

Returns

the link local

Definition at line 152 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider.addIHardwareSyncPulseReciver(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLink(), com.neuronrobotics.sdk.addons.kinematics.INewLinkProvider.generate(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceScriptingName(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getDyio(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getGCODE(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getHardwareIndex(), com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice.getHeater(), com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getPid(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getTypeString(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getVirtual(), com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.isPrismatic(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setLinkConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.setUseLimits(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.userLinkProviders.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.refreshHardwareLayer().

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getLowerLimits()

double [] com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLowerLimits

(

)

Gets the lower limits.

Returns

the lower limits

Definition at line 246 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory().

getPid()

IPidControlNamespace com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getPid

(

LinkConfiguration

c

)

Gets the pid from the database..

Returns

the pid from the database.

Definition at line 313 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.getDeviceScriptingName(), and com.neuronrobotics.sdk.common.DeviceManager.getSpecificDevice().

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

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getUpperLimits()

double [] com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getUpperLimits

(

)

Gets the upper limits.

Returns

the upper limits

Definition at line 259 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

Referenced by com.neuronrobotics.sdk.addons.kinematics.DHChain.setFactory().

getVirtual()

VirtualGenericPIDDevice com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getVirtual

(

String

myVirtualDevName

)

Definition at line 417 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider.addIHardwareSyncPulseReciver(), and com.neuronrobotics.sdk.common.DeviceManager.getSpecificDevice().

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

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isConnected()

boolean com.neuronrobotics.sdk.addons.kinematics.LinkFactory.isConnected

(

)

Checks if is connected.

Returns

true, if is connected

Definition at line 367 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkConfigurations(), and com.neuronrobotics.sdk.common.DeviceManager.getSpecificDevice().

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linkProviderExists()

static boolean com.neuronrobotics.sdk.addons.kinematics.LinkFactory.linkProviderExists ( String  typeTag )

static

Check to see if link provider is already defined

Parameters

typeTag

Returns

Definition at line 54 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.userLinkProviders.

refreshHardwareLayer()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.refreshHardwareLayer

(

LinkConfiguration

c

)

Refresh hardware layer.

Parameters

c

the c

Definition at line 134 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.AbstractLink.addLinkListener(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), com.neuronrobotics.sdk.addons.kinematics.AbstractLink.getLinks(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links, and com.neuronrobotics.sdk.addons.kinematics.AbstractLink.removeAllLinkListener().

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removeLinkListener()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.removeLinkListener

(

AbstractKinematicsNR

l

)

Removes the link listener.

Parameters

l

the l

Definition at line 395 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

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

setCachedTargets()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.setCachedTargets

(

double[]

jointSpaceVect

)

Sets the cached targets.

Parameters

jointSpaceVect

the new cached targets

Definition at line 347 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links.

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

sync()

void com.neuronrobotics.sdk.addons.kinematics.LinkFactory.sync

(

)

Implements com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseReciver.

Definition at line 413 of file LinkFactory.java.

References com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider.doSync().

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Member Data Documentation

linkConfigurations

ArrayList<LinkConfiguration> com.neuronrobotics.sdk.addons.kinematics.LinkFactory.linkConfigurations = null

private

The link configurations.

Definition at line 34 of file LinkFactory.java.

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

links

ArrayList<AbstractLink> com.neuronrobotics.sdk.addons.kinematics.LinkFactory.links = new ArrayList<AbstractLink>()

private

The links.

Definition at line 31 of file LinkFactory.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLinkListener(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.deleteLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLink(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLowerLimits(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getUpperLimits(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.refreshHardwareLayer(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.removeLinkListener(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.setCachedTargets().

userLinkProviders

HashMap<String, INewLinkProvider> com.neuronrobotics.sdk.addons.kinematics.LinkFactory.userLinkProviders = new HashMap<String, INewLinkProvider>()

staticprivate

Definition at line 28 of file LinkFactory.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.LinkFactory.addLinkProvider(), com.neuronrobotics.sdk.addons.kinematics.LinkFactory.getLinkLocal(), and com.neuronrobotics.sdk.addons.kinematics.LinkFactory.linkProviderExists().

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

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