org.cogchar.api.animoid.protocol

Class Frame<JP extends JointPosition>

java.lang.Object

org.cogchar.api.animoid.protocol.Frame<JP>

Type Parameters:

JP -

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

JointPositionSnapshot, JPARFrame, JPRRFrame, JVFrame

public class Frame<JP extends JointPosition>
extends Object
implements Serializable

Author:

Stu B.

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
Frame()

Method Summary

Methods

Modifier and Type	Method and Description
void	addDeltaFrame(Frame delta)
void	addPosition(JP jp)
static Frame	computeDerivativeFrame(JointStateCoordinateType outType, Frame prevPosAR, Frame currPosAR, double timeSec)
double	computeNorm(double normPower, JointStateCoordinateType ctype)
Frame	copy()
Frame	copyAndConvert(JointStateCoordinateType targetCoordinateType)
String	dumpAllPositions()
String	dumpNonzeroPositions()
List<JP>	getAllPositions()
JP	getJointPositionForJoint(Joint j)
JP	getJointPositionForOldLogicalJointNumber(Integer jointID)
List<JP>	getNonzeroPositions()
Frame	getSubframe(Set<Joint> joints, boolean ignoreMissingPositions)
Set<Joint>	getUsedJointSet()
Frame	integrate(double time)
void	multiplyByScalar(double scalar)
void	shallowCopyPositionsFrom(Frame<JP> source)
static Frame	sumCompatibleFrames(Frame f1, Frame f2)
String	toString()
void	transformOtherFrame(Frame targetFrame, Set<Joint> permittedJointMask, boolean okToAddDim)
void	truncate()
void	verifyCoordinateTypeCompatibility(JointStateCoordinateType ctype)
static boolean	verifySameJointsUsed(Frame f1, Frame f2)
static Frame	weightedSumCommonJoints(Frame f1, double w1, Frame f2, double w2)
static Frame	weightedSumSelectedJoints(Frame f1, double w1, Frame f2, double w2, Set<Joint> selJoints)

Methods inherited from class java.lang.Object

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

Constructor Detail

Frame

public Frame()

Method Detail

addPosition

public void addPosition(JP jp)

getAllPositions

public List<JP> getAllPositions()

getNonzeroPositions

public List<JP> getNonzeroPositions()

getJointPositionForJoint

public JP getJointPositionForJoint(Joint j)

getJointPositionForOldLogicalJointNumber

public JP getJointPositionForOldLogicalJointNumber(Integer jointID)

getUsedJointSet

public Set<Joint> getUsedJointSet()

dumpAllPositions

public String dumpAllPositions()

dumpNonzeroPositions

public String dumpNonzeroPositions()

transformOtherFrame

public void transformOtherFrame(Frame targetFrame,
                       Set<Joint> permittedJointMask,
                       boolean okToAddDim)

copyAndConvert

public Frame copyAndConvert(JointStateCoordinateType targetCoordinateType)

copy

public Frame copy()

shallowCopyPositionsFrom

public void shallowCopyPositionsFrom(Frame<JP> source)

sumCompatibleFrames

public static Frame sumCompatibleFrames(Frame f1,
                        Frame f2)

weightedSumCommonJoints

public static Frame weightedSumCommonJoints(Frame f1,
                            double w1,
                            Frame f2,
                            double w2)

weightedSumSelectedJoints

public static Frame weightedSumSelectedJoints(Frame f1,
                              double w1,
                              Frame f2,
                              double w2,
                              Set<Joint> selJoints)

verifySameJointsUsed

public static boolean verifySameJointsUsed(Frame f1,
                           Frame f2)

computeDerivativeFrame

public static Frame computeDerivativeFrame(JointStateCoordinateType outType,
                           Frame prevPosAR,
                           Frame currPosAR,
                           double timeSec)

integrate

public Frame integrate(double time)

multiplyByScalar

public void multiplyByScalar(double scalar)

addDeltaFrame

public void addDeltaFrame(Frame delta)

truncate

public void truncate()

verifyCoordinateTypeCompatibility

public void verifyCoordinateTypeCompatibility(JointStateCoordinateType ctype)

getSubframe

public Frame getSubframe(Set<Joint> joints,
                boolean ignoreMissingPositions)

computeNorm

public double computeNorm(double normPower,
                 JointStateCoordinateType ctype)

toString

public String toString()

Overrides:

toString in class Object