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Class primitives.machines.TwoArmsMachine
java.lang.Object
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+----primitives.machines.Machine
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+----primitives.machines.NarmsMachine
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+----primitives.machines.TwoArmsMachine
- public class TwoArmsMachine
- extends NarmsMachine
Class used to control the motion of a 2-arms machine.
Used by the TwoArmsSpaceDemo applet.
- See Also:
- TwoArmsSpaceDemo
-
angles
- The limit angles of motion [should be private]
-
TwoArmsMachine(Dimension, double, int)
- initializes the machines and checks the limit angles of its motion.
-
finalize()
-
-
redraw(Graphics)
- draws the machine using a specified graphic context.
-
rotateJoint(int, double)
- rotates the central joint relative to a given periferial joint.
angles
public double angles[]
- The limit angles of motion [should be private]
TwoArmsMachine
public TwoArmsMachine(Dimension d,
double ratio,
int i)
- initializes the machines and checks the limit angles of its motion.
- Parameters:
- d - the size of the rectangle the machine should be drawn in.
- ratio - see Machine
- i - the arm to rotate 0 or 1.
rotateJoint
public void rotateJoint(int i,
double dalpha) throws MachineException
- rotates the central joint relative to a given periferial joint.
- Parameters:
- i - the relative joint to use.
- dalpha - the amount in radians to rotate.
- Throws: MachineException
- if the rotation is nt pysically possible.
- See Also:
- rotateJoint
redraw
public void redraw(Graphics g)
- draws the machine using a specified graphic context.
- Parameters:
- g - the graphic context to draw to.
- Overrides:
- redraw in class NarmsMachine
- See Also:
- MachineListener
finalize
public void finalize() throws Throwable
- Throws: Throwable
- .
- Overrides:
- finalize in class NarmsMachine
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