JointController (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_control.JointController

```
public class JointController
extends java.lang.Object
```
the joint controller interface describe how to input to a joint controller.
The output Force, Vel, Pos... must be available in the class implementing JointController interface

Nested Class Summary

Nested Classes
Modifier and Type Class Description

static class JointController.ControlMode
control mode

Constructor Summary

Constructors
Constructor Description

JointController(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`long`	`getControlModes()`	gets the control mode mask.
`static long`	`getCPtr(JointController obj)`
`Device`	`getModel()`	get kinematic model of device that is controlled
`Q`	`getQ()`	return the current position of the controlled robot
`Q`	`getQd()`	return the current velocity
`void`	`setControlMode(JointController.ControlMode mode)`	sets the control mode of this JointController.
`void`	`setTargetAcc(Q vals)`	sets the target acceleration
`void`	`setTargetPos(Q vals)`	sets the target joint value for the current control mode.
`void`	`setTargetVel(Q vals)`	sets the target velocity

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - JointController
```
public JointController(long cPtr,
                       boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(JointController obj)
```
  - delete
```
public void delete()
```
  - getControlModes
```
public long getControlModes()
```
    gets the control mode mask. Defines which types of control the JointController
    supports
  - setControlMode
```
public void setControlMode(JointController.ControlMode mode)
```
    sets the control mode of this JointController. If the mode
    is unsupported an exception is thrown
  - setTargetPos
```
public void setTargetPos(Q vals)
```
    sets the target joint value for the current control mode.
  - setTargetVel
```
public void setTargetVel(Q vals)
```
    sets the target velocity
    
    Parameters:
    
    vals - [in] in m/s
  - setTargetAcc
```
public void setTargetAcc(Q vals)
```
    sets the target acceleration
    
    Parameters:
    
    vals - [in] in m/s^2
  - getModel
```
public Device getModel()
```
    get kinematic model of device that is controlled
  - getQ
```
public Q getQ()
```
    return the current position of the controlled robot
  - getQd
```
public Q getQd()
```
    return the current velocity