nao
Class Pose

java.lang.Object
  nao.Pose

public class Pose
extends java.lang.Object

Stores the angle (position) of each joint.

Field Summary

static java.lang.String	ANKLEPITCHLEFT
static java.lang.String	ANKLEPITCHRIGHT
static java.lang.String	ANKLEROLLLEFT
static java.lang.String	ANKLEROLLRIGHT
static java.lang.String	ELBOWROLLLEFT
static java.lang.String	ELBOWROLLRIGHT
static java.lang.String	ELBOWYAWLEFT
static java.lang.String	ELBOWYAWRIGHT
static java.lang.String	HANDLEFT
static java.lang.String	HANDRIGHT
static java.lang.String	HEADPITCH
static java.lang.String	HEADYAW
static java.lang.String	HIPPITCHLEFT
static java.lang.String	HIPPITCHRIGHT
static java.lang.String	HIPROLLLEFT
static java.lang.String	HIPROLLRIGHT
static java.lang.String	HIPYAWLEFT
static java.lang.String	HIPYAWRIGHT
static java.lang.String[]	JOINTNAMES
static java.lang.String	KNEEPITCHLEFT
static java.lang.String	KNEEPITCHRIGHT
static java.lang.String	SHOULDERPITCHLEFT
static java.lang.String	SHOULDERPITCHRIGHT
static java.lang.String	SHOULDERROLLLEFT
static java.lang.String	SHOULDERROLLRIGHT
static java.lang.String	WRISTYAWLEFT
static java.lang.String	WRISTYAWRIGHT

Constructor Summary

Pose()

Method Summary

double	getJointPosition(java.lang.String name) Get the position (angle) of a joint in radians.
void	setJointPosition(java.lang.String name, double pos) Store the position of the given joint.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

HEADYAW

public static java.lang.String HEADYAW

HEADPITCH

public static java.lang.String HEADPITCH

SHOULDERPITCHLEFT

public static java.lang.String SHOULDERPITCHLEFT

SHOULDERROLLLEFT

public static java.lang.String SHOULDERROLLLEFT

ELBOWYAWLEFT

public static java.lang.String ELBOWYAWLEFT

ELBOWROLLLEFT

public static java.lang.String ELBOWROLLLEFT

WRISTYAWLEFT

public static java.lang.String WRISTYAWLEFT

HANDLEFT

public static java.lang.String HANDLEFT

SHOULDERPITCHRIGHT

public static java.lang.String SHOULDERPITCHRIGHT

SHOULDERROLLRIGHT

public static java.lang.String SHOULDERROLLRIGHT

ELBOWYAWRIGHT

public static java.lang.String ELBOWYAWRIGHT

ELBOWROLLRIGHT

public static java.lang.String ELBOWROLLRIGHT

WRISTYAWRIGHT

public static java.lang.String WRISTYAWRIGHT

HANDRIGHT

public static java.lang.String HANDRIGHT

HIPYAWLEFT

public static java.lang.String HIPYAWLEFT

HIPROLLLEFT

public static java.lang.String HIPROLLLEFT

HIPPITCHLEFT

public static java.lang.String HIPPITCHLEFT

KNEEPITCHLEFT

public static java.lang.String KNEEPITCHLEFT

ANKLEPITCHLEFT

public static java.lang.String ANKLEPITCHLEFT

ANKLEROLLLEFT

public static java.lang.String ANKLEROLLLEFT

HIPYAWRIGHT

public static java.lang.String HIPYAWRIGHT

HIPROLLRIGHT

public static java.lang.String HIPROLLRIGHT

HIPPITCHRIGHT

public static java.lang.String HIPPITCHRIGHT

KNEEPITCHRIGHT

public static java.lang.String KNEEPITCHRIGHT

ANKLEPITCHRIGHT

public static java.lang.String ANKLEPITCHRIGHT

ANKLEROLLRIGHT

public static java.lang.String ANKLEROLLRIGHT

JOINTNAMES

public static final java.lang.String[] JOINTNAMES

Constructor Detail

Pose

public Pose()

Method Detail

setJointPosition

public void setJointPosition(java.lang.String name,
                             double pos)

Store the position of the given joint.

Parameters:

name - The name of the joint (defined in Pose)

pos - The position (angle) in radians

getJointPosition

public double getJointPosition(java.lang.String name)

Get the position (angle) of a joint in radians.