org.cogchar.api.animoid.protocol.JPARFrame 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.api.animoid.protocol;
import java.util.List;
/**
*
* @author Stu B.
*/
public class JPARFrame extends Frame {
// Frames must contain same joints, and all coords must be abs-rom
public JPRRFrame computeRelFrame(JPARFrame targetPosAR) {
JPRRFrame resultF = new JPRRFrame();
List currAbsJPs = targetPosAR.getAllPositions();
for (JointPositionAROM currAbsJP : currAbsJPs) {
Joint j = currAbsJP.getJoint();
JointPositionAROM prevJP = getJointPositionForJoint(j);
JointPositionRROM relJP = prevJP.computeDeltaRelPos(currAbsJP);
resultF.addPosition(relJP);
}
return resultF;
}
public static JPARFrame makeFrom(Frame f) {
// Currently this does not "convert" from another coordinate system, e.g. lopsided.
// It simply rewraps/retypes the arom coordinates in weakly-typed frame f.
if (f instanceof JPARFrame) {
return (JPARFrame) f;
}
JPARFrame jparf = new JPARFrame();
List jplist = f.getAllPositions();
for(JointPosition jp : jplist) {
JointPositionAROM jpar;
if (jp instanceof JointPositionAROM) {
jpar = (JointPositionAROM) jp;
} else {
jpar = new JointPositionAROM(jp);
}
jparf.addPosition(jpar);
}
return jparf;
}
}