1 package cz.cuni.amis.pogamut.usar2004.agent.module.configuration;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.ConfigType;
4
5 /**
6 * Configuration message representative for Mission packages.
7 *
8 * @author vejmanm
9 */
10 public class ConfigMissionPackage extends SuperConfiguration
11 {
12 public static final ConfigType type = ConfigType.MISSION_PACKAGE;
13
14 /**
15 * Ctor. Configuration type describes particular subject about which
16 * we want to know about. It is used to distinguish incoming message from
17 * the server.
18 */
19 public ConfigMissionPackage()
20 {
21 super(type);
22 }
23
24 /**
25 *
26 * Each value is the mission package’s link number(or index) that is
27 * described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min
28 * Range.
29 *
30 * @param index
31 * @return Returns link value at given index.
32 */
33 public int getLinkAt(int index)
34 {
35 return lastMessage.getLinks().get(index);
36 }
37
38 /**
39 *
40 * Each value can either be “Revolute” or “Prismatic”, as determined by the
41 * type of joint being described.
42 *
43 * @param index
44 * @return Returns joint type value at given index.
45 */
46 public String getJointTypeAt(int index)
47 {
48 return lastMessage.getJointTypes().get(index);
49 }
50
51 /**
52 *
53 * Each value describes the joint’s maximum speed, in rad/s.
54 *
55 * @param index
56 * @return Returns joint max speed at given index.
57 */
58 public double getMaxSpeedAt(int index)
59 {
60 if(index < getLinksLength())
61 {
62 return lastMessage.getMaxSpeeds().get(index);
63 }
64 return -1;
65 }
66
67 /**
68 *
69 * Each value describes the joint’s maximum torque.
70 *
71 * @param index
72 * @return Returns joint max torque at given index.
73 */
74 public double getMaxTorqueAt(int index)
75 {
76 if(index < getLinksLength())
77 {
78 return lastMessage.getMaxTorques().get(index);
79 }
80 return -1;
81 }
82
83 /**
84 * For a revolute joint, Each value is the minimum absolute angle that the
85 * joint can rotate to. For a prismatic joint, Each value is the minimum
86 * distance that the joint can move to.
87 *
88 * @param index
89 * @return Returns joint min range at given index.
90 */
91 public double getMinRangeAt(int index)
92 {
93 if(index < getLinksLength())
94 {
95 return lastMessage.getMinRanges().get(index);
96 }
97 return -1;
98 }
99
100 /**
101 * For a revolute joint, Each value is the maximum absolute angle that the
102 * joint can rotate to. For a prismatic joint, Each value is the maximum
103 * distance that the joint can move to.
104 *
105 * @param index
106 * @return Returns joint max range at given index.
107 */
108 public double getMaxRangeAt(int index)
109 {
110 if(index < getLinksLength())
111 {
112 return lastMessage.getMaxRanges().get(index);
113 }
114 return -1;
115 }
116
117 /**
118 * Returns length of link list.
119 * @return Returns length of link list.
120 */
121 public int getLinksLength()
122 {
123 return lastMessage.getLinks().size();
124 }
125 }