javax.robotics.simulator
Class CLIKRSimulation

java.lang.Object
  javax.media.j3d.SceneGraphObject
      javax.media.j3d.Node
          javax.media.j3d.Leaf
              javax.media.j3d.Behavior
                  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.