changing of the DH settings shold triger a configurations change evnt

Author: Kevin Harrington

src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java

@@ -277,7 +277,7 @@ protected ArrayList<LinkConfiguration> loadConfig(Element doc) {
 					Node nNode = dHParameters.item(x);
 					if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("DHParameters")) {
 						Element dhNode = (Element) nNode;
-						DHLink newLink = new DHLink(dhNode);
+						DHLink newLink = new DHLink(dhNode,newLinkConf);
 						getDhParametersChain().addLink(newLink);// 0->1
 						NodeList mobileBasesNodeList = dhNode.getChildNodes();
 						for (int j = 0; j < mobileBasesNodeList.getLength(); j++) {

src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java

@@ -66,6 +66,8 @@ public class DHLink {
 
 	/** The embedable xml. */
 	private MobileBase slaveMobileBase=null;
+
+	private LinkConfiguration newLinkConf;
 
 
 	/**
@@ -88,8 +90,10 @@ public DHLink(double d, double theta,double r, double alpha) {
 	 * Instantiates a new DH link.
 	 *
 	 * @param nNode the n node
+	 * @param newLinkConf 
 	 */
-	public DHLink(Element nNode) {
+	public DHLink(Element nNode, LinkConfiguration newLinkConf) {
+		this.newLinkConf = newLinkConf;
 		setDelta(XmlFactory.getTagValueDouble("Delta", nNode));
 		setTheta(Math.toRadians(XmlFactory.getTagValueDouble("Theta", nNode)));
 		setRadius(XmlFactory.getTagValueDouble("Radius", nNode));
@@ -548,6 +552,7 @@ public double getDelta() {
 	 */
 	public void setDelta(double d) {
 		this.d = d;
+		newLinkConf.fireChangeEvent();
 	}
 
 	/**
@@ -568,6 +573,7 @@ public void setRadius(double radius) {
 		this.radius = radius;
 		transX_J=null;
 		transX=null;
+		newLinkConf.fireChangeEvent();
 	}
 
 	/**
@@ -577,6 +583,7 @@ public void setRadius(double radius) {
 	 */
 	public void setTheta(double theta) {
 		this.theta = theta;
+		newLinkConf.fireChangeEvent();
 	}
 
 	/**
@@ -588,6 +595,7 @@ public void setAlpha(double alpha) {
 		this.alpha = alpha;
 		rotX=null;
 		rotX_J=null;
+		newLinkConf.fireChangeEvent();
 	}
 
 	/**

src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java

@@ -1068,7 +1068,7 @@ public ArrayList<ILinkConfigurationChangeListener> getListeners() {
 		return listeners;
 	}
 
-	private void fireChangeEvent() {
+	void fireChangeEvent() {
 		if(listeners!=null) {
 			for(int i=0;i<listeners.size();i++) {
 				try {