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package vrpn;
import java.util.*;
public class PoserRemote extends VRPNDevice implements Runnable
{
////////////////////////////////
// Public methods
//
/**
* @param name The name of the poser to connect to (e.g., Poser0@localhost)
* @param localInLogfileName The name of a logfile to save incoming messages. Use
* null if no such log is desired.
* @param localOutLogfileName The name of a logfile to save outgoing messages. Use
* null if no such log is desired.
* @param remoteInLogfileName The name of a logfile in which the server name
* should save incoming messages. Use null if no such log is desired.
* @param remoteOutLogfileName The name of a logfile in which the server name
* should save outgoing messages. Use null if no such log is desired.
* @exception java.lang.InstantiationException
* If the poser could not be created because of problems with
* its native code and linking.
*/
public PoserRemote( String name, String localInLogfileName, String localOutLogfileName,
String remoteInLogfileName, String remoteOutLogfileName )
throws InstantiationException
{
super( name, localInLogfileName, localOutLogfileName, remoteInLogfileName, remoteOutLogfileName );
}
public boolean requestPose( double[] position, double[] quaternion )
{
return requestPose( new Date(), position, quaternion );
}
public boolean requestPose( Date t, double[] position, double[] quaternion )
{
boolean retval = false;
if( position.length != 3 || quaternion.length != 4 )
return false;
long msecs = t.getTime( );
long secs = msecs / 1000;
synchronized( downInVrpnLock )
{
retval = requestPose_native( secs, ( msecs - secs * 1000 ) * 1000, position, quaternion );
}
return retval;
}
/**
* @param positionDelta new position = old position + positionDelta
* @param quaternion new orientation = quaternion * old orientation
* @return true if the request was successfully transmitted to the poser.
* false if there was some problems sending the request.
*/
public boolean requestPoseRelative( double[] positionDelta, double[] quaternion )
{
return requestPoseRelative( new Date(), positionDelta, quaternion );
}
/**
*
* @param t the time at which this pose should be adopted
* @param positionDelta new position = old position + positionDelta
* @param quaternion new orientation = quaternion * old orientation
* @return true if the request was successfully transmitted to the poser.
* false if there was some problems sending the request.
*/
public boolean requestPoseRelative( Date t, double[] positionDelta, double[] quaternion )
{
boolean retval = false;
if( positionDelta.length != 3 || quaternion.length != 4 )
return false;
long msecs = t.getTime( );
long secs = msecs / 1000;
synchronized( downInVrpnLock )
{
retval = requestPoseRelative_native( secs, ( msecs - secs * 1000 ) * 1000, positionDelta, quaternion );
}
return retval;
}
public boolean requestVelocity( double[] velocity, double[] quaternion, double interval )
{
return requestVelocity( new Date(), velocity, quaternion, interval );
}
public boolean requestVelocity( Date t, double[] velocity, double[] quaternion, double interval )
{
boolean retval = false;
if( velocity.length != 3 || quaternion.length != 4 )
return false;
long msecs = t.getTime( );
long secs = msecs / 1000;
synchronized( downInVrpnLock )
{
retval = requestVelocity_native( secs, ( msecs - secs * 1000 ) * 1000, velocity, quaternion, interval );
}
return retval;
}
/**
* @param velocityDelta new velocity = old velocity + velocityDelta
* @param quaternion new orientation = quaternion * old orientation
* @param intervalDelta new interval = old interval + intervalDelta
* @return true if the request was successfully transmitted to the poser.
* false if there was some problems sending the request.
*/
public boolean requestVelocityRelative( double[] velocityDelta, double[] quaternion, double intervalDelta )
{
return requestVelocityRelative( new Date(), velocityDelta, quaternion, intervalDelta );
}
/**
* @param t the time at which this velocity pose should be adopted.
* @param velocityDelta new velocity = old velocity + velocityDelta
* @param quaternion new orientation = quaternion * old orientation
* @param intervalDelta new interval = old interval + intervalDelta
* @return true if the request was successfully transmitted to the poser.
* false if there was some problems sending the request.
*/
public boolean requestVelocityRelative( Date t, double[] velocityDelta, double[] quaternion, double intervalDelta )
{
boolean retval = false;
if( velocityDelta.length != 3 || quaternion.length != 4 )
return false;
long msecs = t.getTime( );
long secs = msecs / 1000;
synchronized( downInVrpnLock )
{
retval = requestVelocityRelative_native( secs, ( msecs - secs * 1000 ) * 1000, velocityDelta, quaternion, intervalDelta );
}
return retval;
}
// end public methods
////////////////////////
////////////////////////
// Protected methods
//
/**
* Stops the poser thread
*/
protected void stoppedRunning( )
{
synchronized( downInVrpnLock )
{
this.shutdownPoser( );
}
}
/**
* Initialize the native poser object
* @param name The name of the poser and host (e.g., "[email protected]").
* @return true if the poser was connected successfully,
* false otherwise.
*/
protected native boolean init( String name, String localInLogfileName,
String localOutLogfileName, String remoteInLogfileName,
String remoteOutLogfileName );
/**
* This should only be called from the method finalize()
*/
protected native void shutdownPoser( );
protected native void mainloop( );
protected native boolean requestPose_native( long secs, long usecs, double[] position, double[] quaternion );
protected native boolean requestPoseRelative_native( long secs, long usecs, double[] position_delta, double[] quaternion );
protected native boolean requestVelocity_native( long secs, long usecs, double[] position, double[] quaternion, double interval);
protected native boolean requestVelocityRelative_native( long secs, long usecs, double[] velocity_delta, double[] quaternion, double interval_delta );
// end protected methods
///////////////////////
}
