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Class primitives.machines.TwoArmsMachine 

java.lang.Object
   |
   +----primitives.machines.Machine
           |
           +----primitives.machines.NarmsMachine
                   |
                   +----primitives.machines.TwoArmsMachine
public class TwoArmsMachine
extends NarmsMachine
Class used to control the motion of a 2-arms machine. Used by the TwoArmsSpaceDemo applet.

See Also:
TwoArmsSpaceDemo

Variable Index

o angles
The limit angles of motion [should be private]

Constructor Index

o TwoArmsMachine(Dimension, double, int)
initializes the machines and checks the limit angles of its motion.

Method Index

o finalize()
o redraw(Graphics)
draws the machine using a specified graphic context.
o rotateJoint(int, double)
rotates the central joint relative to a given periferial joint.

Variables

o angles 
 public double angles[]
The limit angles of motion [should be private]

Constructors

o TwoArmsMachine 
 public TwoArmsMachine(Dimension d,
                       double ratio,
                       int i)
initializes the machines and checks the limit angles of its motion.

Parameters:
d - the size of the rectangle the machine should be drawn in.
ratio - see Machine
i - the arm to rotate 0 or 1.

Methods

o rotateJoint 
 public void rotateJoint(int i,
                         double dalpha) throws MachineException
rotates the central joint relative to a given periferial joint.

Parameters:
i - the relative joint to use.
dalpha - the amount in radians to rotate.
Throws: MachineException
if the rotation is nt pysically possible.
See Also:
rotateJoint
o redraw 
 public void redraw(Graphics g)
draws the machine using a specified graphic context.

Parameters:
g - the graphic context to draw to.
Overrides:
redraw in class NarmsMachine
See Also:
MachineListener
o finalize 
 public void finalize() throws Throwable
Throws: Throwable
.
Overrides:
finalize in class NarmsMachine 
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