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DRCRobotModel.getJointMap
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getJointMap
method
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us.ihmc.avatar.drcRobot.DRCRobotModel

Best Java code snippets using us.ihmc.avatar.drcRobot.DRCRobotModel.getJointMap (Showing top 20 results out of 315)

origin: us.ihmc/ihmc-avatar-interfaces-test

public StandStillDoNothingPelvisPoseHistoryCorrectorController()
{
  requestedHighLevelState = (YoEnum<HighLevelControllerName>) simulationConstructionSet.getVariable(
     HumanoidHighLevelControllerManager.class.getSimpleName(), "requestedHighLevelState");
  requestedHighLevelState.set(HighLevelControllerName.DO_NOTHING_BEHAVIOR);
  jointMap = getRobotModel().getJointMap();
  Vector3D robotLocation = new Vector3D();
  qDesireds = new LinkedHashMap<>();
  oneDegreeOfFreedomJoints = new ArrayList<>();
  robot.getAllOneDegreeOfFreedomJoints(oneDegreeOfFreedomJoints);
  for (OneDegreeOfFreedomJoint joint : oneDegreeOfFreedomJoints)
  {
   qDesireds.put(joint, joint.getQYoVariable().getDoubleValue());
  }
}
origin: us.ihmc/IHMCAvatarInterfaces

 @Override
 public void variableChanged(YoVariable<?> v)
 {
   alphaFilteredHeadYawPercentage.update(headYawPercentage.getDoubleValue());
   NeckJointName headYaw = NeckJointName.DISTAL_NECK_YAW;
   double neckYawJointRange = sliderBoardControlledNeckJointsWithLimits.get(headYaw).getRight()
      - sliderBoardControlledNeckJointsWithLimits.get(headYaw).getLeft();
   DoubleYoVariable desiredAngle = (DoubleYoVariable) registry.getVariable(drcRobotModel.getJointMap().getNeckJointName(headYaw) + "_unconstrained"
      + CommonNames.q_d);
   desiredAngle.set(alphaFilteredHeadYawPercentage.getDoubleValue() * neckYawJointRange + sliderBoardControlledNeckJointsWithLimits.get(headYaw).getLeft());
 }
});
origin: us.ihmc/ihmc-avatar-interfaces

 @Override
 public void notifyOfVariableChange(YoVariable<?> v)
 {
   alphaFilteredHeadYawPercentage.update(headYawPercentage.getDoubleValue());
   NeckJointName headYaw = NeckJointName.DISTAL_NECK_YAW;
   double neckYawJointRange = sliderBoardControlledNeckJointsWithLimits.get(headYaw).getRight()
      - sliderBoardControlledNeckJointsWithLimits.get(headYaw).getLeft();
   YoDouble desiredAngle = (YoDouble) registry.getVariable(drcRobotModel.getJointMap().getNeckJointName(headYaw) + "_unconstrained"
      + CommonNames.q_d);
   desiredAngle.set(alphaFilteredHeadYawPercentage.getDoubleValue() * neckYawJointRange + sliderBoardControlledNeckJointsWithLimits.get(headYaw).getLeft());
 }
});
origin: us.ihmc/ihmc-avatar-interfaces

 @Override
 public void notifyOfVariableChange(YoVariable<?> v)
 {
   alphaFilteredUpperHeadPitchPercentage.update(upperHeadPitchPercentage.getDoubleValue());
   NeckJointName upperHeadPitch = NeckJointName.DISTAL_NECK_PITCH;
   double jointRange = sliderBoardControlledNeckJointsWithLimits.get(upperHeadPitch).getRight()
      - sliderBoardControlledNeckJointsWithLimits.get(upperHeadPitch).getLeft();
   YoDouble desiredAngle = (YoDouble) registry.getVariable(drcRobotModel.getJointMap().getNeckJointName(upperHeadPitch)
      + "_unconstrained" + CommonNames.q_d);
   desiredAngle.set(alphaFilteredUpperHeadPitchPercentage.getDoubleValue() * jointRange + sliderBoardControlledNeckJointsWithLimits.get(upperHeadPitch).getLeft());
 }
});
origin: us.ihmc/ihmc-avatar-interfaces

 @Override
 public void notifyOfVariableChange(YoVariable<?> v)
 {
   alphaFilteredLowerHeadPitchYawPercentage.update(lowerHeadPitchPercentage.getDoubleValue());
   NeckJointName lowerHeadPitch = NeckJointName.PROXIMAL_NECK_PITCH;
   double jointRange = sliderBoardControlledNeckJointsWithLimits.get(lowerHeadPitch).getRight()
      - sliderBoardControlledNeckJointsWithLimits.get(lowerHeadPitch).getLeft();
   YoDouble desiredAngle = (YoDouble) registry.getVariable(drcRobotModel.getJointMap().getNeckJointName(lowerHeadPitch)
      + "_unconstrained" + CommonNames.q_d);
   desiredAngle.set(alphaFilteredLowerHeadPitchYawPercentage.getDoubleValue() * jointRange + sliderBoardControlledNeckJointsWithLimits.get(lowerHeadPitch).getLeft());
 }
});
origin: us.ihmc/IHMCAvatarInterfaces

 @Override
 public void variableChanged(YoVariable<?> v)
 {
   alphaFilteredUpperHeadPitchPercentage.update(upperHeadPitchPercentage.getDoubleValue());
   NeckJointName upperHeadPitch = NeckJointName.DISTAL_NECK_PITCH;
   double jointRange = sliderBoardControlledNeckJointsWithLimits.get(upperHeadPitch).getRight()
      - sliderBoardControlledNeckJointsWithLimits.get(upperHeadPitch).getLeft();
   DoubleYoVariable desiredAngle = (DoubleYoVariable) registry.getVariable(drcRobotModel.getJointMap().getNeckJointName(upperHeadPitch)
      + "_unconstrained" + CommonNames.q_d);
   desiredAngle.set(alphaFilteredUpperHeadPitchPercentage.getDoubleValue() * jointRange + sliderBoardControlledNeckJointsWithLimits.get(upperHeadPitch).getLeft());
 }
});
origin: us.ihmc/IHMCAvatarInterfaces

 @Override
 public void variableChanged(YoVariable<?> v)
 {
   alphaFilteredLowerHeadPitchYawPercentage.update(lowerHeadPitchPercentage.getDoubleValue());
   NeckJointName lowerHeadPitch = NeckJointName.PROXIMAL_NECK_PITCH;
   double jointRange = sliderBoardControlledNeckJointsWithLimits.get(lowerHeadPitch).getRight()
      - sliderBoardControlledNeckJointsWithLimits.get(lowerHeadPitch).getLeft();
   DoubleYoVariable desiredAngle = (DoubleYoVariable) registry.getVariable(drcRobotModel.getJointMap().getNeckJointName(lowerHeadPitch)
      + "_unconstrained" + CommonNames.q_d);
   desiredAngle.set(alphaFilteredLowerHeadPitchYawPercentage.getDoubleValue() * jointRange + sliderBoardControlledNeckJointsWithLimits.get(lowerHeadPitch).getLeft());
 }
});
origin: us.ihmc/ihmc-avatar-interfaces-test

public ForwardDynamicComparisonScript(Robot robot, DRCRobotModel robotModel)
{
  this.robot = robot;
  FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
  List<JointBasics> ignoredJoints = robotModel.getJointMap().getLastSimulatedJoints().stream()
                        .flatMap(name -> SubtreeStreams.fromChildren(fullRobotModel.getOneDoFJointByName(name).getSuccessor()))
                        .collect(Collectors.toList());
  multiBodySystem = MultiBodySystemBasics.toMultiBodySystemBasics(fullRobotModel.getElevator(), ignoredJoints);
  calculator = new ForwardDynamicsCalculator(multiBodySystem);
  floatingJoint = fullRobotModel.getRootJoint();
  allOneDoFJoints = MultiBodySystemTools.filterJoints(multiBodySystem.getJointsToConsider(), OneDoFJointBasics.class);
  multiBodySystem.getAllJoints().forEach(joint -> nameToJointMap.put(joint.getName(), joint));
}
origin: us.ihmc/IHMCAvatarInterfaces

private void setupPassiveJoints()
{
 YoVariableRegistry robotsYoVariableRegistry = humanoidFloatingRootJointRobot.getRobotsYoVariableRegistry();
 List<ImmutablePair<String, YoPDGains>> passiveJointNameWithGains = robotModel.get().getJointMap().getPassiveJointNameWithGains(robotsYoVariableRegistry);
 if (passiveJointNameWithGains != null)
 {
   for (int i = 0; i < passiveJointNameWithGains.size(); i++)
   {
    String jointName = passiveJointNameWithGains.get(i).getLeft();
    OneDegreeOfFreedomJoint simulatedJoint = humanoidFloatingRootJointRobot.getOneDegreeOfFreedomJoint(jointName);
    YoPDGains gains = passiveJointNameWithGains.get(i).getRight();
    PassiveJointController passiveJointController = new PassiveJointController(simulatedJoint, gains);
    humanoidFloatingRootJointRobot.setController(passiveJointController);
   }
 }
}
origin: us.ihmc/ihmc-avatar-interfaces

private void setupPassiveJoints()
{
 YoVariableRegistry robotsYoVariableRegistry = humanoidFloatingRootJointRobot.getRobotsYoVariableRegistry();
 List<ImmutablePair<String, YoPDGains>> passiveJointNameWithGains = robotModel.get().getJointMap().getPassiveJointNameWithGains(robotsYoVariableRegistry);
 if (passiveJointNameWithGains != null)
 {
   for (int i = 0; i < passiveJointNameWithGains.size(); i++)
   {
    String jointName = passiveJointNameWithGains.get(i).getLeft();
    OneDegreeOfFreedomJoint simulatedJoint = humanoidFloatingRootJointRobot.getOneDegreeOfFreedomJoint(jointName);
    YoPDGains gains = passiveJointNameWithGains.get(i).getRight();
    PassiveJointController passiveJointController = new PassiveJointController(simulatedJoint, gains);
    humanoidFloatingRootJointRobot.setController(passiveJointController);
   }
 }
}
origin: us.ihmc/valkyrie

  public static void main(String[] args) throws IOException
  {
   DRCRobotModel robotModel = new ValkyrieRobotModel(RobotTarget.SCS, false);
   
   DRCRobotJointMap jointMap = robotModel.getJointMap();
   HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
   FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
   FullHumanoidRobotModel fullRobotModelForSlider = robotModel.createFullRobotModel();
     new PosePlaybackSCSBridge(sdfRobot, fullRobotModel, fullRobotModelForSlider, robotModel.getControllerDT());
    }
}
origin: us.ihmc/IHMCAvatarInterfaces

private void setupPositionControlledJointsForSimulation()
{
 String[] positionControlledJointNames = robotModel.get().getJointMap().getPositionControlledJointsForSimulation();
 if (positionControlledJointNames != null)
 {
   for (String positionControlledJointName : positionControlledJointNames)
   {
    OneDegreeOfFreedomJoint simulatedJoint = humanoidFloatingRootJointRobot.getOneDegreeOfFreedomJoint(positionControlledJointName);
    FullRobotModel controllerFullRobotModel = threadDataSynchronizer.getControllerFullRobotModel();
    OneDoFJoint controllerJoint = controllerFullRobotModel.getOneDoFJointByName(positionControlledJointName);
    JointRole jointRole = robotModel.get().getJointMap().getJointRole(positionControlledJointName);
    boolean isUpperBodyJoint = ((jointRole != JointRole.LEG) && (jointRole != JointRole.SPINE));
    boolean isBackJoint = jointRole == JointRole.SPINE;
    JointLowLevelPositionControlSimulator positionControlSimulator = new JointLowLevelPositionControlSimulator(simulatedJoint, controllerJoint,
                                                          isUpperBodyJoint, isBackJoint, false,
                                                          robotModel.get().getSimulateDT());
    humanoidFloatingRootJointRobot.setController(positionControlSimulator);
   }
 }
}
origin: us.ihmc/ihmc-avatar-interfaces-test

private FullHumanoidRobotModel createFullRobotModelAtInitialConfiguration()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel initialFullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot robot = robotModel.createHumanoidFloatingRootJointRobot(false);
 robotModel.getDefaultRobotInitialSetup(0.0, 0.0).initializeRobot(robot, robotModel.getJointMap());
 DRCPerfectSensorReaderFactory drcPerfectSensorReaderFactory = new DRCPerfectSensorReaderFactory(robot, null, 0);
 drcPerfectSensorReaderFactory.build(initialFullRobotModel.getRootJoint(), null, null, null, null, null, null);
 drcPerfectSensorReaderFactory.getSensorReader().read();
 return initialFullRobotModel;
}
origin: us.ihmc/ihmc-avatar-interfaces-test

protected FullHumanoidRobotModel createFullRobotModelAtInitialConfiguration()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel initialFullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot robot = robotModel.createHumanoidFloatingRootJointRobot(false);
 robotModel.getDefaultRobotInitialSetup(0.0, 0.0).initializeRobot(robot, robotModel.getJointMap());
 DRCPerfectSensorReaderFactory drcPerfectSensorReaderFactory = new DRCPerfectSensorReaderFactory(robot, null, 0);
 drcPerfectSensorReaderFactory.build(initialFullRobotModel.getRootJoint(), null, null, null, null, null, null);
 drcPerfectSensorReaderFactory.getSensorReader().read();
 return initialFullRobotModel;
}
origin: us.ihmc/ihmc-avatar-interfaces-test

private FullHumanoidRobotModel createFullRobotModelAtInitialConfiguration()
{
 DRCRobotModel robotModel = getRobotModel();
 FullHumanoidRobotModel initialFullRobotModel = robotModel.createFullRobotModel();
 HumanoidFloatingRootJointRobot robot = robotModel.createHumanoidFloatingRootJointRobot(false);
 robotModel.getDefaultRobotInitialSetup(0.0, 0.0).initializeRobot(robot, robotModel.getJointMap());
 DRCPerfectSensorReaderFactory drcPerfectSensorReaderFactory = new DRCPerfectSensorReaderFactory(robot, null, 0);
 drcPerfectSensorReaderFactory.build(initialFullRobotModel.getRootJoint(), null, null, null, null, null, null);
 drcPerfectSensorReaderFactory.getSensorReader().read();
 return initialFullRobotModel;
}
origin: us.ihmc/ihmc-avatar-interfaces

private void setupPositionControlledJointsForSimulation()
{
 String[] positionControlledJointNames = robotModel.get().getJointMap().getPositionControlledJointsForSimulation();
 if (positionControlledJointNames != null)
 {
   for (String positionControlledJointName : positionControlledJointNames)
   {
    OneDegreeOfFreedomJoint simulatedJoint = humanoidFloatingRootJointRobot.getOneDegreeOfFreedomJoint(positionControlledJointName);
    FullRobotModel controllerFullRobotModel = threadDataSynchronizer.getControllerFullRobotModel();
    OneDoFJointBasics controllerJoint = controllerFullRobotModel.getOneDoFJointByName(positionControlledJointName);
    if (simulatedJoint == null || controllerJoint == null)
      continue;
    JointDesiredOutputList controllerLowLevelDataList = threadDataSynchronizer.getControllerDesiredJointDataHolder();
    JointDesiredOutputBasics controllerDesiredOutput = controllerLowLevelDataList.getJointDesiredOutput(controllerJoint);
    JointRole jointRole = robotModel.get().getJointMap().getJointRole(positionControlledJointName);
    boolean isUpperBodyJoint = ((jointRole != JointRole.LEG) && (jointRole != JointRole.SPINE));
    boolean isBackJoint = jointRole == JointRole.SPINE;
    JointLowLevelJointControlSimulator positionControlSimulator = new JointLowLevelJointControlSimulator(simulatedJoint, controllerJoint,
                                                       controllerDesiredOutput, isUpperBodyJoint,
                                                       isBackJoint, false,
                                                       controllerFullRobotModel.getTotalMass(),
                                                       robotModel.get().getSimulateDT());
    humanoidFloatingRootJointRobot.setController(positionControlSimulator);
   }
 }
}
origin: us.ihmc/ihmc-avatar-interfaces

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}
origin: us.ihmc/IHMCAvatarInterfaces

public VisualizePoseWorkspace(DRCRobotModel robotModel) throws IOException
{
 this.controlDT = robotModel.getControllerDT();
 
 DRCRobotJointMap jointMap = robotModel.getJointMap();
 HumanoidFloatingRootJointRobot sdfRobot = robotModel.createHumanoidFloatingRootJointRobot(false);
 interpolator = new PlaybackPoseInterpolator(registry);
 SimulationConstructionSet scs = new SimulationConstructionSet(sdfRobot);
 scs.addYoVariableRegistry(registry);
 scs.addYoGraphicsListRegistry(yoGraphicsListRegistry);
 fullRobotModelForSlider = robotModel.createFullRobotModel();
 DRCRobotMidiSliderBoardPositionManipulation sliderBoard = new DRCRobotMidiSliderBoardPositionManipulation(scs, sdfRobot, fullRobotModelForSlider, yoGraphicsListRegistry);
 posePlaybackRobotPoseSequence = new PlaybackPoseSequence(fullRobotModelForSlider);
 
 CaptureSnapshotListener captureSnapshotListener = new CaptureSnapshotListener(sdfRobot, scs);
 sliderBoard.addCaptureSnapshotListener(captureSnapshotListener);
 SaveSequenceListener saveSequenceListener = new SaveSequenceListener();
 sliderBoard.addSaveSequenceRequestedListener(saveSequenceListener);
 LoadSequenceListener loadSequenceListener = new LoadSequenceListener(fullRobotModelForSlider, sdfRobot, scs);
 sliderBoard.addLoadSequenceRequestedListener(loadSequenceListener);
 
 
 scs.startOnAThread();
}
origin: us.ihmc/IHMCAvatarInterfaces

private void initializeSimulationConstructionSet()
{
 humanoidFloatingRootJointRobot.setDynamicIntegrationMethod(scsInitialSetup.get().getDynamicIntegrationMethod());
 scsInitialSetup.get().initializeSimulation(simulationConstructionSet);
 if (guiInitialSetup.get().isGuiShown())
 {
   SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = simulationConstructionSet.createSimulationOverheadPlotterFactory();
   simulationOverheadPlotterFactory.setShowOnStart(guiInitialSetup.get().isShowOverheadView());
   simulationOverheadPlotterFactory.setVariableNameToTrack("centerOfMass");
   simulationOverheadPlotterFactory.addYoGraphicsListRegistries(controllerThread.getDynamicGraphicObjectsListRegistry());
   simulationOverheadPlotterFactory.addYoGraphicsListRegistries(stateEstimationThread.getDynamicGraphicObjectsListRegistry());
   simulationOverheadPlotterFactory.addYoGraphicsListRegistries(actualCMPComputer.getYoGraphicsListRegistry());
   simulationOverheadPlotterFactory.createOverheadPlotter();
   guiInitialSetup.get().initializeGUI(simulationConstructionSet, humanoidFloatingRootJointRobot, robotModel.get());
 }
 if (commonAvatarEnvironment.get() != null && commonAvatarEnvironment.get().getTerrainObject3D() != null)
 {
   simulationConstructionSet.addStaticLinkGraphics(commonAvatarEnvironment.get().getTerrainObject3D().getLinkGraphics());
 }
 scsInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get(), null);
 robotInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get().getJointMap());
 humanoidFloatingRootJointRobot.update();
}
origin: us.ihmc/ihmc-avatar-interfaces

private void initializeSimulationConstructionSet()
{
 simulationConstructionSet.setParameterRootPath(threadedRobotController.getYoVariableRegistry());
 humanoidFloatingRootJointRobot.setDynamicIntegrationMethod(scsInitialSetup.get().getDynamicIntegrationMethod());
 scsInitialSetup.get().initializeSimulation(simulationConstructionSet);
 if (guiInitialSetup.get().isGuiShown())
 {
   SimulationOverheadPlotterFactory simulationOverheadPlotterFactory = simulationConstructionSet.createSimulationOverheadPlotterFactory();
   simulationOverheadPlotterFactory.setShowOnStart(guiInitialSetup.get().isShowOverheadView());
   simulationOverheadPlotterFactory.setVariableNameToTrack("centerOfMass");
   simulationOverheadPlotterFactory.addYoGraphicsListRegistries(controllerThread.getYoGraphicsListRegistry());
   simulationOverheadPlotterFactory.addYoGraphicsListRegistries(stateEstimationThread.getYoGraphicsListRegistry());
   simulationOverheadPlotterFactory.addYoGraphicsListRegistries(actualCMPComputer.getYoGraphicsListRegistry());
   simulationOverheadPlotterFactory.createOverheadPlotter();
   guiInitialSetup.get().initializeGUI(simulationConstructionSet, humanoidFloatingRootJointRobot, robotModel.get());
 }
 if (commonAvatarEnvironment.get() != null && commonAvatarEnvironment.get().getTerrainObject3D() != null)
 {
   simulationConstructionSet.addStaticLinkGraphics(commonAvatarEnvironment.get().getTerrainObject3D().getLinkGraphics());
 }
 scsInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get(), null);
 robotInitialSetup.get().initializeRobot(humanoidFloatingRootJointRobot, robotModel.get().getJointMap());
 humanoidFloatingRootJointRobot.update();
}
us.ihmc.avatar.drcRobotDRCRobotModelgetJointMap

Popular methods of DRCRobotModel

  • getEstimatorDT
  • getControllerDT
  • createFullRobotModel
  • getContactPointParameters
  • getDefaultRobotInitialSetup
  • getSensorInformation
  • getSimulateDT
  • getStateEstimatorParameters
  • createHumanoidFloatingRootJointRobot
  • getCapturePointPlannerParameters
  • getSimpleRobotName
  • getWalkingControllerParameters
  • getSimpleRobotName,
  • getWalkingControllerParameters,
  • getFootstepPlannerParameters,
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  • createSimulatedHandController,
  • getLogModelProvider,
  • getLogSettings,
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  • getSensorSuiteManager

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