Package api.advanced

Class BundleCreator

  • public class BundleCreator
extends java.lang.Object
    A convenience class to create Bundles for the most common use cases
    See Also:
    Bundle

    • Constructor Summary

      Constructors 
      Constructor Description
      BundleCreator()  

    • Method Summary

      Modifier and Type Method Description
      static Bundle moveAllLegs​(int hip, int knee, int foot, int time)
      Create a bundle which moves all joints of all legs in parallel
      static Bundle moveLeg​(int leg, int hip, int knee, int foot, int time)
      Create a bundle which moves all joints of a leg in parallel
      static Sequence walk()  

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • BundleCreator

        public BundleCreator()

    • Method Detail

      • moveLeg

        public static Bundle moveLeg​(int leg,
                             int hip,
                             int knee,
                             int foot,
                             int time)
        Create a bundle which moves all joints of a leg in parallel
        Parameters:
        leg - The id of the leg (e.g. 310 for the back right leg; it is the sum of PINConstants.BACK and PINConstants.RIGHT)
        hip - The value, the leg will rotate to
        knee - The value, the knee will move to
        foot - The value, the foot will move to
        time - The default execution time of the generated Bundle
        Returns:
        The bundle initialized with the commands to move the leg in the desired way

      • moveAllLegs

        public static Bundle moveAllLegs​(int hip,
                                 int knee,
                                 int foot,
                                 int time)
        Create a bundle which moves all joints of all legs in parallel
        Parameters:
        hip - The value, the legs will rotate to
        knee - The value, the knees will move to
        foot - The value, the feet will move to
        time - The default execution time of the generated Bundle
        Returns:
        The bundle initialized with the commands to move the legs in the desired way