javax.robotics.simulator
Class CLIKRSimulation

java.lang.Object
  extended by javax.media.j3d.SceneGraphObject
      extended by javax.media.j3d.Node
          extended by javax.media.j3d.Leaf
              extended by javax.media.j3d.Behavior
                  extended by javax.robotics.simulator.CLIKRSimulation
Direct Known Subclasses:
ClikWithConstraintSimulation

public class CLIKRSimulation
extends javax.media.j3d.Behavior

CLIK simulation helper class for redundant robot manipulators.

Since:
1.1.2
Version:
01/nov/06
Author:
Carmine Lia

Field Summary
 
Fields inherited from class javax.media.j3d.Node
ALLOW_AUTO_COMPUTE_BOUNDS_READ, ALLOW_AUTO_COMPUTE_BOUNDS_WRITE, ALLOW_BOUNDS_READ, ALLOW_BOUNDS_WRITE, ALLOW_COLLIDABLE_READ, ALLOW_COLLIDABLE_WRITE, ALLOW_LOCAL_TO_VWORLD_READ, ALLOW_LOCALE_READ, ALLOW_PARENT_READ, ALLOW_PICKABLE_READ, ALLOW_PICKABLE_WRITE, ENABLE_COLLISION_REPORTING, ENABLE_PICK_REPORTING
 
Constructor Summary
CLIKRSimulation(Robot3D robot, CLIKR clik, Trajectory trj, int points)
           
 
Method Summary
 double[][] getJointData()
           
 MultiPlotPanel getPlotPanel()
           
 RobotPanel getRobotPanel()
           
 void initialize()
           
 void play()
          Plays the simulation.
 void processStimulus(java.util.Enumeration arg0)
           
 void start()
          Starts the simulation.
 void stop()
          Stops the simulation.
 
Methods inherited from class javax.media.j3d.Behavior
getEnable, getNumSchedulingIntervals, getSchedulingBoundingLeaf, getSchedulingBounds, getSchedulingInterval, getView, getWakeupCondition, postId, setEnable, setSchedulingBoundingLeaf, setSchedulingBounds, setSchedulingInterval, updateNodeReferences, wakeupOn
 
Methods inherited from class javax.media.j3d.Node
cloneNode, cloneTree, cloneTree, cloneTree, cloneTree, cloneTree, cloneTree, duplicateNode, getBounds, getBoundsAutoCompute, getCollidable, getLocale, getLocalToVworld, getLocalToVworld, getParent, getPickable, setBounds, setBoundsAutoCompute, setCollidable, setPickable
 
Methods inherited from class javax.media.j3d.SceneGraphObject
clearCapability, clearCapabilityIsFrequent, duplicateSceneGraphObject, getCapability, getCapabilityIsFrequent, getName, getUserData, isCompiled, isLive, setCapability, setCapabilityIsFrequent, setName, setUserData, toString
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

CLIKRSimulation

public CLIKRSimulation(Robot3D robot,
                       CLIKR clik,
                       Trajectory trj,
                       int points)
Parameters:
robot -
clik -
trj -
points -
Method Detail

initialize

public void initialize()
Specified by:
initialize in class javax.media.j3d.Behavior

processStimulus

public void processStimulus(java.util.Enumeration arg0)
Specified by:
processStimulus in class javax.media.j3d.Behavior

getPlotPanel

public final MultiPlotPanel getPlotPanel()
Returns:
the panel of plots.

getRobotPanel

public final RobotPanel getRobotPanel()
Returns:
the 3D panel of robot.

getJointData

public final double[][] getJointData()
Returns:
the computed joints data.

play

public void play()
Plays the simulation.


start

public void start()
Starts the simulation.


stop

public void stop()
Stops the simulation.