package cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes;
   
   import java.io.Serializable;
   
   /**
    * VALUE parameter has two possible meanings. If the link being described is a
    * prismatic joint, double gives the distance (in meters) from the original
    * position of the link. If the link being described is a revolute joint, it
    * gives a sector(probably).
   *
   * The TORQUE parameter gives the current torque of the link being described. *
   * All of the above are collected into one data structure below this text.
   *
   * @author vejmanm
   */
  public class LinkState implements Serializable, Cloneable
  {
      private int link = 0;
      private double value = 0;
      private double torque = 0;
  
      public LinkState()
      {
      }
  
      public LinkState(int link, double value, double torque)
      {
          this.link = link;
          this.value = value;
          this.torque = torque;
      }
  
      @Override
      public Object clone()
      {
          return new LinkState(link, value, torque);
      }
  
      public final void set(int link, double value, double torque)
      {
          this.link = link;
          this.value = value;
          this.torque = torque;
  
      }
  
      public final void set(LinkState tplLS)
      {
          link = tplLS.link;
          value = tplLS.value;
          torque = tplLS.torque;
      }
  
  //            public final void get(LinkState tplLS) {
  //                
  //                tplLS.link=link;
  //                tplLS.value=value;
  //                tplLS.torque=torque;
  //            }
      public final int getLink()
      {
          return link;
      }
  
      public final double getValue()
      {
          return value;
      }
  
      public final double getTorque()
      {
          return torque;
      }
  }