org.cogchar.api.animoid.protocol.JointPositionSnapshot Maven / Gradle / Ivy
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Physical and spatial calculations
/*
* Copyright 2011 by The Cogchar Project (www.cogchar.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.cogchar.api.animoid.protocol;
import java.util.List;
import java.util.Map;
import org.cogchar.platform.util.TimeUtils;
/**
* @author Stu B.
*/
public class JointPositionSnapshot extends Frame {
// private Map myJointPositionsByID = new HashMap();
private long mySnapshotTimestamp;
public JointPositionSnapshot(){}
public JointPositionSnapshot(Robot r, JointStateCoordinateType coordType,
Map positionValuesByJointID) {
for (Integer jid : positionValuesByJointID.keySet()) {
Joint j = r.getJointForOldLogicalNumber(jid);
JointPosition jp = new JointPosition(j);
// Note the coordinate system is vague at this point. We just have a map of doubles.
Double absPos = positionValuesByJointID.get(jid);
// Now we assert a coordinate system type
jp.setCoordinateFloat(coordType, absPos);
addPosition(jp);
// myJointPositionsByID.put(jid, jp);
}
setSnapshotTimestamp(TimeUtils.currentTimeMillis());
}
public JointPositionSnapshot(List jps){
for(JointPosition jp : jps){
addPosition(jp);
}
setSnapshotTimestamp(TimeUtils.currentTimeMillis());
}
/* Please folks - no hardcoded muscle joint IDs!!!
public static JointPositionSnapshot getGazeSnapshot(Frame f){
List jointIds = CollectionUtils.list(
MuscleJoint.BothEyes_Up.getJointID(),
MuscleJoint.BothEyes_TurnRight.getJointID(),
MuscleJoint.Head_TurnRight.getJointID(),
MuscleJoint.UpperNod_Forward.getJointID());
f = f.copyAndConvert(JointStateCoordinateType.FLOAT_ABS_RANGE_OF_MOTION);
JointPositionSnapshot jps = new JointPositionSnapshot();
for(Integer i : jointIds){
jps.addPosition(f.getJointPositionForOldLogicalJointNumber(i));
}
jps.setSnapshotTimestamp(TimeUtils.currentTimeMillis());
return jps;
}
*/
public long getSnapshotTimestamp() {
return mySnapshotTimestamp;
}
public void setSnapshotTimestamp(long mySnapshotTimestamp) {
this.mySnapshotTimestamp = mySnapshotTimestamp;
}
}
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