org.cogchar.animoid.job

Class BlenderJob

java.lang.Object

org.cogchar.zzz.platform.stub.PropertyChangeNotifier

org.cogchar.zzz.platform.stub.ThalamentStub

org.cogchar.zzz.platform.stub.JobStub

org.cogchar.animoid.job.AnimoidJob

org.cogchar.animoid.job.BlenderJob

All Implemented Interfaces:

Serializable, PositionEstimator, TimeKeeper

public class BlenderJob
extends AnimoidJob
implements PositionEstimator, TimeKeeper

Author:

Stu B.

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.cogchar.zzz.platform.stub.JobStub

JobStub.Status

Field Summary

Fields

Modifier and Type	Field and Description
BlinkJob	theTestBlinkJob
VisemeJob	theTestVisemeJob

Fields inherited from class org.cogchar.zzz.platform.stub.JobStub

myConfigMap, PROP_ACTUAL_END, PROP_ACTUAL_START, PROP_SCHED_END, PROP_SCHED_START, PROP_STATUS, PROP_STATUS_STRING

Constructor Summary

Constructors

Constructor and Description
BlenderJob(AnimoidConfig aconf)

Method Summary

Methods

Modifier and Type	Method and Description
protected Set<Joint>	compileCautionJoints()
protected void	dropDeadJobs()
Frame	estimatePositionAtMoment(long tstampMsec)
Frame	estimatePositionNow(boolean enhancedAccuracy)
Frame	estimatePositionRoughly()
Frame	estimateVelocityAtMoment(long tstampMsec)
String	getContentSummaryString()
Double	getFrameDurationSmoothingFactor()
protected Collection<MotionJob>	getMotionJobs()
Double	getNominalSecPerFrame()
String	getTypeString()
void	registerMotionJob(MotionJob mj)
void	setupTestMotionJobs(AnimoidConfig aconf, JobSpaceStub jobSpace)
Frame	transformFrame(Frame currPosAbsRomFrame)
void	unregisterMotionJob(MotionJob mj)

Methods inherited from class org.cogchar.animoid.job.AnimoidJob

disableMotion, enableMotion, getAnimoidConfig

Methods inherited from class org.cogchar.zzz.platform.stub.JobStub

abort, click, getActualEnd, getActualEndSec, getActualStart, getActualStartSec, getConfigVariable, getJobBroker, getSchedDuration, getSchedEnd, getSchedStart, getStatus, getStatusString, mayBeRunnableNowOrLater, requestCancelOrAbort, scheduleForIntervalStartingNow, scheduleToStartAfterWait, scheduleToStartNow, setConfigVariable, setSchedEnd, setSchedStart, setStatus, start, toString

Methods inherited from class org.cogchar.zzz.platform.stub.ThalamentStub

fetchBroker, getCausingThalament, getCreateAgeSec, getCreateStampMsec, getSimpleClassName, getThalamentID, getUpdateAgeSec, getUpdateStampMsec, markUpdated, markUpdatedNow, setBroker, setCausingThalament, setCreateStampMsec, setUpdateStampMsec

Methods inherited from class org.cogchar.zzz.platform.stub.PropertyChangeNotifier

addPropertyChangeListener, completeInit, removePropertyChangeListener, safelyFirePropertyChange

Methods inherited from class java.lang.Object

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

Field Detail

theTestBlinkJob

public BlinkJob theTestBlinkJob

theTestVisemeJob

public VisemeJob theTestVisemeJob

Constructor Detail

BlenderJob

public BlenderJob(AnimoidConfig aconf)

Method Detail

registerMotionJob

public void registerMotionJob(MotionJob mj)

unregisterMotionJob

public void unregisterMotionJob(MotionJob mj)

dropDeadJobs

protected void dropDeadJobs()

getMotionJobs

protected Collection<MotionJob> getMotionJobs()

compileCautionJoints

protected Set<Joint> compileCautionJoints()

getNominalSecPerFrame

public Double getNominalSecPerFrame()

Specified by:

getNominalSecPerFrame in interface TimeKeeper

getFrameDurationSmoothingFactor

public Double getFrameDurationSmoothingFactor()

Specified by:

getFrameDurationSmoothingFactor in interface TimeKeeper

transformFrame

public Frame transformFrame(Frame currPosAbsRomFrame)

setupTestMotionJobs

public void setupTestMotionJobs(AnimoidConfig aconf,
                       JobSpaceStub jobSpace)

estimatePositionAtMoment

public Frame estimatePositionAtMoment(long tstampMsec)

Specified by:

estimatePositionAtMoment in interface PositionEstimator

Parameters:

tstampMsec - - which is either "fresh" or "old". Fresh means >= the start time of our last output frame calculation in the transformFrame method. Since both methods are synchronized, there is a possibility that this method is blocked during that method's exec, allowing this tstampMsec to become "old".

Returns:

Frame containing enhanced estimated positions at moment, if it is "fresh", otherwise the last output position (for "old" timestamps).

estimateVelocityAtMoment

public Frame estimateVelocityAtMoment(long tstampMsec)

Specified by:

estimateVelocityAtMoment in interface PositionEstimator

estimatePositionRoughly

public Frame estimatePositionRoughly()

Specified by:

estimatePositionRoughly in interface PositionEstimator

getContentSummaryString

public String getContentSummaryString()

Overrides:

getContentSummaryString in class ThalamentStub

getTypeString

public String getTypeString()

Overrides:

getTypeString in class ThalamentStub

estimatePositionNow

public Frame estimatePositionNow(boolean enhancedAccuracy)

Specified by:

estimatePositionNow in interface PositionEstimator