apply v to Motors instead of Joints

pom.xml

@@ -6,7 +6,7 @@
 
 	<groupId>com.marginallyclever</groupId>
 	<artifactId>RobotOverlord</artifactId>
-	<version>2.11.0</version>
+	<version>2.90.0</version>
 	<name>Robot Overlord</name>
 	<description>A friendly 3D user interface for controlling robots.</description>
 	<url>http://www.marginallyclever.com/</url>
@@ -132,7 +132,7 @@
 							<SplashScreen-Image>splash.png</SplashScreen-Image>
 						</manifestEntries>
 						<manifest>
-							<mainClass>com.marginallyclever.robotoverlord.RobotOverlord</mainClass>
+							<mainClass>com.marginallyclever.ro3.RO3</mainClass>
 							<addClasspath>true</addClasspath>
 						</manifest>
 					</archive>

src/main/java/com/marginallyclever/ro3/RO3Frame.java

@@ -37,7 +37,7 @@ public class RO3Frame extends JFrame {
     private final List<DockingPanel> windows = new ArrayList<>();
 
     public RO3Frame() {
-        super("RO3");
+        super("Robot Overlord 3");
 
         setLookAndFeel();
 

src/main/java/com/marginallyclever/ro3/node/nodes/Motor.java

@@ -10,6 +10,9 @@
 import java.awt.*;
 import java.util.List;
 
+/**
+ * a {@link Motor} is a {@link Node} that can be attached to a {@link HingeJoint}.
+ */
 public class Motor extends Node {
     private HingeJoint hinge;
 
@@ -76,4 +79,8 @@ public HingeJoint getAxle() {
     public void setAxle(HingeJoint hinge) {
         this.hinge = hinge;
     }
+
+    public boolean hasAxle() {
+        return hinge!=null;
+    }
 }

src/main/java/com/marginallyclever/ro3/node/nodes/marlinrobotarm/ApproximateJacobianFiniteDifferences.java

@@ -20,7 +20,7 @@ protected ApproximateJacobianFiniteDifferences(MarlinRobotArm arm) {
         Pose endEffector = arm.getEndEffector();
         if(endEffector==null) throw new InvalidParameterException("Robot must have an end effector.");
 
-        double[] jointAnglesOriginal = arm.getAllJointValues();
+        double[] jointAnglesOriginal = arm.getAllJointAngles();
         Matrix4d endEffectorPose = endEffector.getWorld();
         Matrix4d endEffectorDifference = new Matrix4d();
         Matrix3d endEffectorPoseRotation = new Matrix3d();
@@ -31,7 +31,7 @@ protected ApproximateJacobianFiniteDifferences(MarlinRobotArm arm) {
                 // use anglesB to get the hand matrix after a tiny adjustment on one joint.
                 double[] jointAnglesPlusDelta = Arrays.copyOf(jointAnglesOriginal, jointAnglesOriginal.length);
                 jointAnglesPlusDelta[i] += ANGLE_STEP_SIZE_DEGREES;
-                arm.setAllJointValues(jointAnglesPlusDelta);
+                arm.setAllJointAngles(jointAnglesPlusDelta);
                 Matrix4d endEffectorPosePlusDelta = endEffector.getWorld();
 
                 // use the finite difference in the two matrixes
@@ -59,7 +59,7 @@ protected ApproximateJacobianFiniteDifferences(MarlinRobotArm arm) {
                 jacobian[5][i] = skewSymmetric.m01;
             }
         } finally {
-            arm.setAllJointValues(jointAnglesOriginal);
+            arm.setAllJointAngles(jointAnglesOriginal);
             arm.update(0);
         }
     }