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A command line utility for accesing the bowler framework.

There is a newer version: 3.28.0

package com.neuronrobotics.sdk.pid;

import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;

// TODO: Auto-generated Javadoc
/**
 * The Interface ILinkFactoryProvider.
 */
public interface ILinkFactoryProvider {
	
	/**
	 * Request link configuration.
	 *
	 * @param index the index
	 * @return the link configuration
	 */
	LinkConfiguration requestLinkConfiguration(int index);
	
	/**
	 * This calculates the target pose .
	 *
	 * @param taskSpaceTransform the task space transform
	 * @param seconds the time for the transition to take from current position to target, unit seconds
	 * @return The joint space vector is returned for target arrival referance
	 */
	public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds);
	
	/**
	 * This takes a reading of the robots position and converts it to a joint space vector
	 * This vector is converted to task space and returned .
	 *
	 * @return taskSpaceVector in mm,radians [x,y,z,rotx,rotY,rotZ]
	 */
	public TransformNR getCurrentTaskSpaceTransform();
	
	
	/**
	 * This calculates the target pose .
	 *
	 * @param jointSpaceVect the joint space vect
	 * @param seconds the time for the transition to take from current position to target, unit seconds
	 * @return The joint space vector is returned for target arrival referance
	 */
	public TransformNR setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds);
	
	/**
	 * Sets an individual target joint position .
	 *
	 * @param axis the joint index to set
	 * @param value the value to set it to
	 * @param seconds the time for the transition to take from current position to target, unit seconds
	 */

	public void setDesiredJointAxisValue(int axis, double value, double seconds) ;


}