org.cogchar.animoid.broker

Class AnimoidFacade

java.lang.Object

org.cogchar.animoid.broker.AnimoidFacade

All Implemented Interfaces:

Animator

public class AnimoidFacade
extends Object
implements Animator

Author:

Stu B. Lower level components should NOT know about the AnimoidFacade.

Field Summary

Fields

Modifier and Type	Field and Description
protected AnimoidConfig	myAnimoidConfig
protected BlenderJob	myBlenderJob
protected AnimoidCueSpaceStub	myCueSpace
protected JobSpaceStub	myJobSpace
protected MotionController	myMotionController
static String	T_ATTENTION_DISABLED
static String	T_ATTENTION_ENABLED
static String	T_SCRIPTED_DISABLED
static String	T_SCRIPTED_ENABLED
static String	T_VISEMES_DISABLED
static String	T_VISEMES_ENABLED

Constructor Summary

Constructors

Constructor and Description
AnimoidFacade(String servoConfigPath, URL animoidConfigURL, String visemeConfigPath, Integer msecPerFrame, double frameDurationSmoothingFactor)

Method Summary

Methods

Modifier and Type	Method and Description
void	disableScriptedAnimations()
void	disableVisemes()
void	enableScriptedAnimations()
void	enableVisemes()
void	forceServosToCenter()
Library	getAnimationLibrary()
AnimoidConfig	getAnimoidConfig()
JointPosition	getJointPositionAbsROM(Integer oldLogicalJointNumber, boolean now)
Device	getMainDevice()
Robot	getMainRobot()
MotionController	getMotionController()
PositionEstimator	getPositionEstimator()
Map<Integer,Integer>	getRoboardServoMap()
Double	getSecondsPerFrame()
ServoChannelConfig[]	getServoChannelConfigSparseArray()
VisemeConfig	getVisemeConfig()
Frame<JointPositionAROM>	getVisemeFrameInAbsROM(int visemeNumber)
VisemeJob	getVisemeJob()
void	initUsingServoConfigSparseArray(ServoChannelConfig[] servoConfigSparseArray)
void	killAllAnimations()
void	playAnimation(String animName, String gestureName, double rashAllowMult, double rashBonusAllow)
void	setAnimationLibrary(Library lib)
void	setCueSpace(AnimoidCueSpaceStub cueSpace)
void	setJobSpace(JobSpaceStub jobSpace)
void	setMotionController(MotionController mc)
void	setTestMotionJobs()
void	setupBlenderJob()
void	suggestAnimationScriptName(String scriptName, String gestureName, double rashAllowMult, double rashBonusAllow)
void	suggestViseme(int curViseme, int duration, byte flags, int nextViseme)
Frame	transformFrame(Frame currPosAbsRomFrame)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

myJobSpace

protected JobSpaceStub myJobSpace

myCueSpace

protected AnimoidCueSpaceStub myCueSpace

myAnimoidConfig

protected AnimoidConfig myAnimoidConfig

myMotionController

protected MotionController myMotionController

myBlenderJob

protected BlenderJob myBlenderJob

T_VISEMES_ENABLED

public static final String T_VISEMES_ENABLED

See Also:

Constant Field Values

T_VISEMES_DISABLED

public static final String T_VISEMES_DISABLED

See Also:

Constant Field Values

T_SCRIPTED_ENABLED

public static final String T_SCRIPTED_ENABLED

See Also:

Constant Field Values

T_SCRIPTED_DISABLED

public static final String T_SCRIPTED_DISABLED

See Also:

Constant Field Values

T_ATTENTION_ENABLED

public static final String T_ATTENTION_ENABLED

See Also:

Constant Field Values

T_ATTENTION_DISABLED

public static final String T_ATTENTION_DISABLED

See Also:

Constant Field Values

Constructor Detail

AnimoidFacade

public AnimoidFacade(String servoConfigPath,
             URL animoidConfigURL,
             String visemeConfigPath,
             Integer msecPerFrame,
             double frameDurationSmoothingFactor)
              throws Throwable

Throws:

Throwable

Method Detail

setJobSpace

public void setJobSpace(JobSpaceStub jobSpace)

setCueSpace

public void setCueSpace(AnimoidCueSpaceStub cueSpace)

setAnimationLibrary

public void setAnimationLibrary(Library lib)

setupBlenderJob

public void setupBlenderJob()

setTestMotionJobs

public void setTestMotionJobs()

getAnimoidConfig

public AnimoidConfig getAnimoidConfig()

Specified by:

getAnimoidConfig in interface Animator

getSecondsPerFrame

public Double getSecondsPerFrame()

getPositionEstimator

public PositionEstimator getPositionEstimator()

Specified by:

getPositionEstimator in interface Animator

setMotionController

public void setMotionController(MotionController mc)

getMotionController

public MotionController getMotionController()

playAnimation

public void playAnimation(String animName,
                 String gestureName,
                 double rashAllowMult,
                 double rashBonusAllow)

Specified by:

playAnimation in interface Animator

initUsingServoConfigSparseArray

public void initUsingServoConfigSparseArray(ServoChannelConfig[] servoConfigSparseArray)

getMainRobot

public Robot getMainRobot()

getMainDevice

public Device getMainDevice()

getAnimationLibrary

public Library getAnimationLibrary()

getVisemeFrameInAbsROM

public Frame<JointPositionAROM> getVisemeFrameInAbsROM(int visemeNumber)

getServoChannelConfigSparseArray

public ServoChannelConfig[] getServoChannelConfigSparseArray()

getVisemeJob

public VisemeJob getVisemeJob()

getVisemeConfig

public VisemeConfig getVisemeConfig()

suggestViseme

public void suggestViseme(int curViseme,
                 int duration,
                 byte flags,
                 int nextViseme)

suggestAnimationScriptName

public void suggestAnimationScriptName(String scriptName,
                              String gestureName,
                              double rashAllowMult,
                              double rashBonusAllow)

transformFrame

public Frame transformFrame(Frame currPosAbsRomFrame)

getJointPositionAbsROM

public JointPosition getJointPositionAbsROM(Integer oldLogicalJointNumber,
                                   boolean now)

enableVisemes

public void enableVisemes()

disableVisemes

public void disableVisemes()

enableScriptedAnimations

public void enableScriptedAnimations()

disableScriptedAnimations

public void disableScriptedAnimations()

killAllAnimations

public void killAllAnimations()

forceServosToCenter

public void forceServosToCenter()

getRoboardServoMap

public Map<Integer,Integer> getRoboardServoMap()