org.cogchar.api.animoid.protocol.JointVelocityAROMPS 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 static org.cogchar.api.animoid.protocol.JointStateCoordinateType.*;
/**
* The extension to JointPosition is a temporary hack.
* For the moment this is just a marker subclass.
* But soon it will extend JointStateItem instead of JointPosition.
* @author Stu B.
*/
public class JointVelocityAROMPS extends JointPosition {
public JointVelocityAROMPS(Joint j) {
super(j);
}
public JointVelocityAROMPS(Joint j, double velAbsRomPerSec) {
this (j);
setCoordinateFloat(FLOAT_VEL_RANGE_OF_MOTION_PER_SEC, velAbsRomPerSec);
}
public static JointVelocityAROMPS makeVelocityAsRateOfPositionChange(JointPosition prevPos, JointPosition nextPos, double timeSec) {
double rate = computeRateOfChange(FLOAT_ABS_RANGE_OF_MOTION, prevPos, nextPos, timeSec);
return new JointVelocityAROMPS(prevPos.getJoint(), rate);
}
public double getVelAROMPS() {
return getCoordinateFloat(FLOAT_VEL_RANGE_OF_MOTION_PER_SEC);
}
}