1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980 |
- package at.acdp.urweb.sclient.data;
- import at.acdp.urweb.CountDataInputStream;
- import java.io.DataInputStream;
- import java.io.IOException;
- import java.util.Arrays;
- public class ConfigurationData implements IRead, ILogentry {
- double[] jointMinLimit=new double[6];
- double[] jointMaxLimit=new double[6];
- double[] jointMaxSpeed=new double[6];
- double[] jointMaxAcceleration= new double[6];
- double vJointDefault;
- double aJointDefault;
- double vToolDefault;
- double aToolDefault;
- double eqRadius;
- double[] dha=new double[6];
- double[] dhd=new double[6];;
- double[] dhAlpha=new double[6];;
- double[] dhTheta=new double[6];;
- int masterboardVersion;
- int controllerBoxType;
- int robotType;
- int robotSubType;
- public void read(CountDataInputStream di, int size) throws IOException {
- for(int i=0; i<jointMinLimit.length; i++)
- jointMinLimit[i] = di.readDouble();
- for(int i=0; i<jointMaxAcceleration.length; i++)
- jointMaxAcceleration[i] = di.readDouble();
- for(int i=0; i<jointMaxSpeed.length; i++)
- jointMaxSpeed[i] = di.readDouble();
- for(int i=0; i<jointMaxAcceleration.length; i++)
- jointMaxAcceleration[i] = di.readDouble();
- vJointDefault = di.readDouble();
- aJointDefault = di.readDouble();
- vToolDefault = di.readDouble();
- aToolDefault = di.readDouble();
- eqRadius = di.readDouble();
- for(int i=0;i<dha.length;i++)
- dha[i] = di.readDouble();
- for(int i=0;i<dhd.length;i++)
- dhd[i] = di.readDouble();
- for(int i=0;i<dhAlpha.length;i++)
- dhAlpha[i] = di.readDouble();
- for(int i=0;i<dhTheta.length;i++)
- dhTheta[i] = di.readDouble();
- masterboardVersion = di.readInt();
- controllerBoxType = di.readInt();
- robotType = di.readInt();
- robotSubType = di.readInt();
- }
- @Override
- public String toString() {
- return "ConfigurationData{" +
- "jointMinLimit=" + Arrays.toString(jointMinLimit) +
- ", jointMaxLimit=" + Arrays.toString(jointMaxLimit) +
- ", jointMaxSpeed=" + Arrays.toString(jointMaxSpeed) +
- ", jointMaxAcceleration=" + Arrays.toString(jointMaxAcceleration) +
- ", vJointDefault=" + vJointDefault +
- ", aJointDefault=" + aJointDefault +
- ", vToolDefault=" + vToolDefault +
- ", aToolDefault=" + aToolDefault +
- ", eqRadius=" + eqRadius +
- ", dha=" + Arrays.toString(dha) +
- ", dhd=" + Arrays.toString(dhd) +
- ", dhAlpha=" + Arrays.toString(dhAlpha) +
- ", dhTheta=" + Arrays.toString(dhTheta) +
- ", masterboardVersion=" + masterboardVersion +
- ", controllerBoxType=" + controllerBoxType +
- ", robotType=" + robotType +
- ", robotSubType=" + robotSubType +
- '}';
- }
- }
|