Class MotorPlan

java.lang.Object
  |
  +--MotorPlan

public class MotorPlan

extends java.lang.Object

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright

Field Summary

(package private) double	bank
(package private) int	fingerPOPIX
(package private) double	fingerRate
(package private) double[][]	force
(package private) double	heading
(package private) double	offmer
(package private) double	offpar
(package private) double	offrad
(package private) int	offsetPOPIX
(package private) Point3d	reachOffset
(package private) Point3d	reachTarget
(package private) int	rotationPOPIX
(package private) double	tilt
(package private) Point3d	wristRotation

Constructor Summary

MotorPlan()

Method Summary

void	printInfo()
void	setFingerRate(double v)
void	setOffset(Point3d objpos, Point3d p) p=(par,mer,rad) defines the offset from the object
void	setWrist(Point3d wr)
java.lang.String	str()
java.lang.String	strForce()
java.lang.String	strOff()
java.lang.String	strRot()

Methods inherited from class java.lang.Object

, clone, equals, finalize, getClass, hashCode, notify, notifyAll, registerNatives, toString, wait, wait, wait

Field Detail

offsetPOPIX

int offsetPOPIX

rotationPOPIX

int rotationPOPIX

fingerPOPIX

int fingerPOPIX

reachOffset

Point3d reachOffset

reachTarget

Point3d reachTarget

offpar

double offpar

offmer

double offmer

offrad

double offrad

wristRotation

Point3d wristRotation

tilt

double tilt

heading

double heading

bank

double bank

fingerRate

double fingerRate

force

double[][] force

Constructor Detail

MotorPlan

public MotorPlan()

Method Detail

setOffset

public void setOffset(Point3d objpos,
                      Point3d p)

p=(par,mer,rad) defines the offset from the object

setWrist

public void setWrist(Point3d wr)

setFingerRate

public void setFingerRate(double v)

str

public java.lang.String str()

strRot

public java.lang.String strRot()

strOff

public java.lang.String strOff()

strForce

public java.lang.String strForce()

printInfo

public void printInfo()