org.cogchar.api.animoid.protocol

Class JointPosition

java.lang.Object

org.cogchar.api.animoid.protocol.JointStateItem

org.cogchar.api.animoid.protocol.JointPosition

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

JointPositionAROM, JointPositionRROM, JointVelocityAROMPS

public class JointPosition
extends JointStateItem

Early prototype of a value describing the position of a joint. Can be relative or absolute. Must somehow boil down to a value compatible with a Double. Can represent a 1st or 2nd derivative of a JP, i.e. velocity or acceleration. Most common subtype in original design: JointPositionAROM

Author:

Stu B.

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	JointPosition.Rationale

Constructor Summary

Constructors

Constructor and Description
JointPosition(Joint j)

Method Summary

Methods

Modifier and Type	Method and Description
void	addDelta(JointPosition delta)
JointPosition	convertToCooordinateType(JointStateCoordinateType ctype)
JointPosition	copy()
static JointPosition	differentiate(JointStateCoordinateType outType, JointPosition prevPos, JointPosition currPos, double timeSec)
JointPosition.Rationale	getRationale()
JointPosition	integrate(double time)
void	setRationale(JointPosition.Rationale r)
static JointPosition	sumJointPositions(JointPosition jp1, JointPosition jp2)
String	toString()
static JointPosition	weightedSumJointPositions(JointPosition jp1, Double w1, JointPosition jp2, Double w2)

Methods inherited from class org.cogchar.api.animoid.protocol.JointStateItem

asJointVelocity, computeRateOfChange, copyStateFrom, dumpStateList, getCoordinateFloat, getCoordinateType, getJoint, isZero, multiplyByScalar, setCoordinateFloat, truncate, verifyCoordinateTypeCompatibility

Methods inherited from class java.lang.Object

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

Constructor Detail

JointPosition

public JointPosition(Joint j)

Method Detail

copy

public JointPosition copy()

Specified by:

copy in class JointStateItem

toString

public String toString()

Overrides:

toString in class Object

setRationale

public void setRationale(JointPosition.Rationale r)

getRationale

public JointPosition.Rationale getRationale()

sumJointPositions

public static JointPosition sumJointPositions(JointPosition jp1,
                              JointPosition jp2)

weightedSumJointPositions

public static JointPosition weightedSumJointPositions(JointPosition jp1,
                                      Double w1,
                                      JointPosition jp2,
                                      Double w2)

integrate

public JointPosition integrate(double time)

differentiate

public static JointPosition differentiate(JointStateCoordinateType outType,
                          JointPosition prevPos,
                          JointPosition currPos,
                          double timeSec)

addDelta

public void addDelta(JointPosition delta)

convertToCooordinateType

public JointPosition convertToCooordinateType(JointStateCoordinateType ctype)