public interface ArticulationControl extends TaggedObject
Modifier and Type | Interface and Description |
---|---|
static class |
ArticulationControl.ArticulationJointsDisplacementData
This class holds the data returned from
getArticulationJointsDisplacement(nxopen.motion.Joint) |
Modifier and Type | Method and Description |
---|---|
ActiveView |
activeView()
Returns the active view
License requirements: mechanisms ("MECHANISMS") . |
void |
articulationSolve(int numSteps,
Joint[] jointTags,
double[] stepSize,
Unit[] stepSizeUnit)
Articulation solve with joint driver step size and number of step as input
License requirements: mechanisms ("MECHANISMS") . |
void |
articulationSolve(Joint[] jointTags,
double[] displacement,
Unit[] displacementUnit)
Articulation solve with joint driver displacement as input
License requirements: mechanisms ("MECHANISMS") . |
int |
delay()
Returns the articulation delay
License requirements: mechanisms ("MECHANISMS") . |
void |
finish()
Articulation finish
License requirements: mechanisms ("MECHANISMS") . |
Joint[] |
getArticulationJoints()
Articulation joints
License requirements: mechanisms ("MECHANISMS") . |
ArticulationControl.ArticulationJointsDisplacementData |
getArticulationJointsDisplacement(Joint jointTag)
Get the articulation joints displacement
License requirements: mechanisms ("MECHANISMS") . |
boolean |
jointsLimits()
Returns the articulation joint limits setting
License requirements: mechanisms ("MECHANISMS") . |
void |
setActiveView(ActiveView activeView)
License requirements: mechanisms ("MECHANISMS") . |
void |
setDelay(int delay)
License requirements: mechanisms ("MECHANISMS") . |
void |
setJointsLimits(boolean jointLimits)
License requirements: mechanisms ("MECHANISMS") . |
void |
stepToAssemblyPosition()
Articulation to assembly position
License requirements: mechanisms ("MECHANISMS") . |
void |
stepToDesignPosition()
Articulation to design position
License requirements: mechanisms ("MECHANISMS") . |
void |
stop()
Articulation stop
License requirements: mechanisms ("MECHANISMS") . |
printTestData, printTestData, tag, tagValue
ArticulationControl.ArticulationJointsDisplacementData getArticulationJointsDisplacement(Joint jointTag) throws NXException, RemoteException
jointTag
- The special articulation joint objectNXException
RemoteException
void articulationSolve(int numSteps, Joint[] jointTags, double[] stepSize, Unit[] stepSizeUnit) throws NXException, RemoteException
numSteps
- The number of step will take in one actionjointTags
- Articulation joint tagsstepSize
- Articulation joint step sizestepSizeUnit
- Articulation joint step size unitNXException
RemoteException
void articulationSolve(Joint[] jointTags, double[] displacement, Unit[] displacementUnit) throws NXException, RemoteException
jointTags
- Articulation joint tagsdisplacement
- Articulation joint displacementdisplacementUnit
- Articulation joint displacement unitsNXException
RemoteException
void stepToDesignPosition() throws NXException, RemoteException
NXException
RemoteException
void stepToAssemblyPosition() throws NXException, RemoteException
NXException
RemoteException
void stop() throws NXException, RemoteException
NXException
RemoteException
void finish() throws NXException, RemoteException
NXException
RemoteException
Joint[] getArticulationJoints() throws NXException, RemoteException
NXException
RemoteException
boolean jointsLimits() throws NXException, RemoteException
NXException
RemoteException
void setJointsLimits(boolean jointLimits) throws NXException, RemoteException
jointLimits
- NXException
RemoteException
int delay() throws NXException, RemoteException
NXException
RemoteException
void setDelay(int delay) throws NXException, RemoteException
delay
- NXException
RemoteException
ActiveView activeView() throws NXException, RemoteException
NXException
RemoteException
void setActiveView(ActiveView activeView) throws NXException, RemoteException
activeView
- NXException
RemoteException
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