org.cogchar.api.animoid.world

Class WorldJoint

java.lang.Object

org.cogchar.api.animoid.world.WorldJoint

public abstract class WorldJoint
extends Object

World joint has a range of motion, specified in degrees, and a sense of positive/negative direction in the world space. E.G. is "eyes_right" a "positive" motion in our world coordinate frame? (Answer: yes!)

This direction refers to the world sense of the logical joint, not the physical sense of a particular underlying servo. The latter is indicated by a "1" in the low-level servo-config, and is irrelevant to this class.

Hint: The world sense will be the same for all robots!

Author:

Stu B.

Field Summary

Fields

Modifier and Type	Field and Description
protected Integer	logicalJointID
protected Joint	myJoint
protected Double	rangeOfMotionDegrees

Constructor Summary

Constructors

Constructor and Description
WorldJoint()

Method Summary

Methods

Modifier and Type	Method and Description
JointVelocityAROMPS	computeVelForJumpToTruncWorldDeg(double currWorldDeg, double targetWorldDeg, double jumpDurSec)
protected double	getCenterPosROM()
double	getInternalAngleDegForROMJP(JointPosition jp)
double	getInternalAngleSpeedDegPS_forVelAROMPS(JointPosition velJP)
Joint	getJoint()
Integer	getLogicalJointID()
Double	getRangeOfMotionDegrees()
protected double	getRawMaxDegreesOffset()
protected double	getRawMinDegreesOffset()
double	getROM_posForWorldAngleDeg(double worldAngleDeg)
double	getROM_velForWorldAngleSpeed(double worldAngleSpeedDegPS)
double	getRoomAboveWorldAngleDeg(double worldAngleDeg, boolean exceptionIfNeg)
double	getRoomBelowWorldAngleDeg(double worldAngleDeg, boolean exceptionIfNeg)
double	getTruncatedInternalDegreesOffset(double wildOffsetDeg)
double	getTruncatedWorldDegreesOffset(double wildWorldAngleDeg)
double	getWorldAngleDegForROMJP(JointPosition jp)
double	getWorldAngleSpeedDegPS_forVelAROMPS(JointPosition velJP)
double	getWorldInversionMultiplier()
double	getWorldMaxDegreesOffset()
double	getWorldMinDegreesOffset()
abstract boolean	isWorldSenseInverted()
void	setJoint(Joint j)
String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

rangeOfMotionDegrees

protected Double rangeOfMotionDegrees

myJoint

protected Joint myJoint

logicalJointID

protected Integer logicalJointID

Constructor Detail

WorldJoint

public WorldJoint()

Method Detail

isWorldSenseInverted

public abstract boolean isWorldSenseInverted()

Returns:

true if the joint coordinate is inverted w.r.t. world coordinate. (e.g. a gaze joint pointing nominally left or down).

The question of whether particular-robot-x has a physically inverted eyes-right servo (i.e. in servo_config.csv) is irrelevant to this determination, which is based solely on the animoid_config.xml, and which should be the same for all robots using this logical joint.

getJoint

public Joint getJoint()

setJoint

public void setJoint(Joint j)

getLogicalJointID

public Integer getLogicalJointID()

getRangeOfMotionDegrees

public Double getRangeOfMotionDegrees()

getCenterPosROM

protected double getCenterPosROM()

getRawMaxDegreesOffset

protected double getRawMaxDegreesOffset()

Returns:

Positive value indicating max degrees above center in logical-ROM coordinates

getRawMinDegreesOffset

protected double getRawMinDegreesOffset()

Returns:

Negative value indicating 'largest' degrees below center in logical-ROM coordinates

getTruncatedInternalDegreesOffset

public double getTruncatedInternalDegreesOffset(double wildOffsetDeg)

Returns:

The closest raw degree offset that is in range.

getWorldMaxDegreesOffset

public double getWorldMaxDegreesOffset()

Returns:

positive value indicating max degrees over center in world coord frame.

getWorldMinDegreesOffset

public double getWorldMinDegreesOffset()

Returns:

Negative value indicating 'largest' degrees below center in world coord frame.

getWorldInversionMultiplier

public double getWorldInversionMultiplier()

getTruncatedWorldDegreesOffset

public double getTruncatedWorldDegreesOffset(double wildWorldAngleDeg)

getROM_posForWorldAngleDeg

public double getROM_posForWorldAngleDeg(double worldAngleDeg)

getROM_velForWorldAngleSpeed

public double getROM_velForWorldAngleSpeed(double worldAngleSpeedDegPS)

getInternalAngleDegForROMJP

public double getInternalAngleDegForROMJP(JointPosition jp)

getWorldAngleDegForROMJP

public double getWorldAngleDegForROMJP(JointPosition jp)

getInternalAngleSpeedDegPS_forVelAROMPS

public double getInternalAngleSpeedDegPS_forVelAROMPS(JointPosition velJP)

getWorldAngleSpeedDegPS_forVelAROMPS

public double getWorldAngleSpeedDegPS_forVelAROMPS(JointPosition velJP)

getRoomAboveWorldAngleDeg

public double getRoomAboveWorldAngleDeg(double worldAngleDeg,
                               boolean exceptionIfNeg)

getRoomBelowWorldAngleDeg

public double getRoomBelowWorldAngleDeg(double worldAngleDeg,
                               boolean exceptionIfNeg)

computeVelForJumpToTruncWorldDeg

public JointVelocityAROMPS computeVelForJumpToTruncWorldDeg(double currWorldDeg,
                                                   double targetWorldDeg,
                                                   double jumpDurSec)

toString

public String toString()

Overrides:

toString in class Object