Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance. Project price only 1 $
You can buy this project and download/modify it how often you want.
/*
* 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.animoid.broker;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
import org.cogchar.api.animoid.protocol.Animation;
import org.cogchar.api.animoid.protocol.Frame;
import org.cogchar.api.animoid.protocol.Joint;
import org.cogchar.api.animoid.protocol.JointPosition;
import org.cogchar.api.animoid.protocol.JointStateCoordinateType;
import org.cogchar.api.animoid.protocol.Robot;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* @author Stu B.
*/
public class AnimationBuilder {
private static Logger theLogger = LoggerFactory.getLogger(AnimationBuilder.class.getName());
public static Animation makeConstantAnimation(String name,
int numFrames, List jointPositions, double secondsPerFrame) {
Frame f = makeConstantFrame(jointPositions);
return makeConstantAnimation(name, numFrames, f, secondsPerFrame);
}
public static Animation makeConstantAnimation(String name,
int numFrames, Frame constFrame, double secondsPerFrame) {
Animation anim = new Animation(name, secondsPerFrame);
for(int i=0; i jointPositions) {
Frame f = new Frame();
for(JointPosition jp : jointPositions){
f.addPosition(jp.copy());
}
return f;
}
public static JointPosition makeAROM_JointPosition(Joint j, double aromPos) {
JointPosition jointPos = null;
jointPos = new JointPosition(j);
jointPos.setCoordinateFloat(JointStateCoordinateType.FLOAT_ABS_RANGE_OF_MOTION, aromPos);
return jointPos;
}
public static JointPosition makeCenteringJointPosition(Robot r, String jointName) {
/* now unused */
Joint j = r.getJointForName(jointName);
JointPosition centerJP = j.getCenterPosition();
return centerJP;
}
public static Frame makeRobotCenteringFrame(Robot r) {
Frame frame = new Frame();
for (Joint j : r.getJoints()) {
JointPosition centerJP = j.getCenterPosition();
frame.addPosition(centerJP);
}
return frame;
}
public static Animation makeRobotCenteringAnimation(Robot r, String animName,
int numFrames, double secondsPerFrame) {
Frame robotCenteringFrame = makeRobotCenteringFrame(r);
Animation anim = makeConstantAnimation(animName, numFrames, robotCenteringFrame, secondsPerFrame);
return anim;
}
public static Animation makeLinearAnimation(String name, Frame start,
Frame end, int numFrames){
Set usedJoints = start.getUsedJointSet();
if(!Frame.verifySameJointsUsed(start, end)){
theLogger.error("Differing joints in Start Frame and End Frame. " +
"Using only common joints");
usedJoints.retainAll(end.getUsedJointSet());
}
List> framePositions = new ArrayList>();
for(Joint j : usedJoints){
JointPosition startPos = start.getJointPositionForJoint(j);
JointPosition endPos = end.getJointPositionForJoint(j);
framePositions.add(getJointSteps(startPos, endPos, numFrames));
}
Animation a = new Animation(name, 1.0);
for(int i=0; i getJointSteps(JointPosition startPos,
JointPosition endPos, Integer numSteps)
{
JointStateCoordinateType flAbsRoM = JointStateCoordinateType.FLOAT_ABS_RANGE_OF_MOTION;
List positions = new ArrayList();
startPos = startPos.convertToCooordinateType(flAbsRoM);
endPos = endPos.convertToCooordinateType(flAbsRoM);
double start = startPos.getCoordinateFloat(flAbsRoM);
double end = endPos.getCoordinateFloat(flAbsRoM);
double range = end - start;
double step = range/numSteps.doubleValue();
for(int i=0; i
