org.cogchar.animoid.job.BlenderJobUnusedStuff Maven / Gradle / Ivy
/*
* 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.job;
import java.util.Map;
import java.util.Set;
import org.cogchar.api.animoid.protocol.Frame;
import org.cogchar.api.animoid.protocol.Joint;
/**
*
* @author Stu B.
*/
public class BlenderJobUnusedStuff {
/* More disabled stuff:
// Frame deltaV = accelFrame.integrate(mySecondsPerFrame);
// Frame nextVelFrame = Frame.sumCompatibleFrames(prevVelFrame, deltaV);
// multiplyByScalar mutates the values in place, so deltaV "becomes" halfDeltaV
Frame halfDeltaV = deltaV; halfDeltaV.multiplyByScalar(0.5);
Frame averageV = Frame.sumCompatibleFrames(myPrevVelFrame, halfDeltaV);
// Averaging the velocity of last frame and this frame provides some smoothing
// and damping of oscillations , in exchange for
// increased rise time (TODO: quantify assumptions under which this is true).
// But doing this increases the complexity of sending the robot to a position
// by forcing an immediate move, which the simplified impulse-acceleration below
// facilitiates.
*/
private void updateContribCounts(Map contribCounts, Frame velFrame) {
Set jobJointsUsed = velFrame.getUsedJointSet();
if (jobJointsUsed != null) {
for (Joint j : jobJointsUsed) {
Integer cc = contribCounts.get(j);
if (cc == null) {
cc = 1;
} else {
cc = cc + 1;
}
contribCounts.put(j, cc);
}
}
}
/*
private void scaleSummedVelocitiesIntoAverages(Frame velSumFrame, Map contribCounts) {
// Scale the summed velocities by the number of contributions, to produce
// an average.
for (Joint j : velSumFrame.getUsedJointSet()) {
Integer cc = contribCounts.get(j);
double multiplier = 1.0 / cc.doubleValue();
JointPosition velJP = velSumFrame.getJointPositionForJoint(j);
velJP.multiplyByScalar(multiplier);
}
}
*/
}