us.ihmc.scs2.definition.yoGraphic.YoGraphicPolynomial3DDefinition Maven / Gradle / Ivy
package us.ihmc.scs2.definition.yoGraphic;
import java.util.Objects;
import javax.xml.bind.annotation.XmlElement;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
/**
* A {@code YoGraphicPolynomial3DDefinition} is a template for creating 3D polynomial and which
* components can be backed by {@code YoVariable}s.
* 
*
* The {@code YoGraphicPolynomial3DDefinition} is to be passed before initialization of a session
* (either before starting a simulation or when creating a yoVariable server), such that the SCS GUI
* can use the definitions and create the actual graphics.
*
*
* See {@link YoGraphicDefinitionFactory} for factory methods simplifying the creation of yoGraphic
* definitions.
*
*
* @author Sylvain Bertrand
*/
public class YoGraphicPolynomial3DDefinition extends YoGraphic3DDefinition
{
/**
* The list of the polynomial coefficients for the x-axis. The coefficients are ordered from low to
* high order.
*/
private YoListDefinition coefficientsX;
/**
* The list of the polynomial coefficients for the y-axis. The coefficients are ordered from low to
* high order.
*/
private YoListDefinition coefficientsY;
/**
* The list of the polynomial coefficients for the z-axis. The coefficients are ordered from low to
* high order.
*/
private YoListDefinition coefficientsZ;
/** The reference frame in which the polynomial is expressed. */
private String referenceFrame;
/** The polynomial is rendered in the time domain t∈[startTime, endTime] */
private String startTime, endTime;
/** The radius the graphic. */
private String size;
/** The number of divisions in the time domain. */
private String timeResolution;
/** The number of radial divisions. */
private String numberOfDivisions;
/**
* Creates a new yoGraphic definition for rendering a polynomial.
*
* Its components need to be initialized. See {@link YoGraphicDefinitionFactory} for factories to
* facilitate creation.
*
*/
public YoGraphicPolynomial3DDefinition()
{
registerYoListField("coefficientsX", this::getCoefficientsX, this::setCoefficientsX);
registerYoListField("coefficientsY", this::getCoefficientsY, this::setCoefficientsY);
registerYoListField("coefficientsZ", this::getCoefficientsZ, this::setCoefficientsZ);
registerStringField("referenceFrame", this::getReferenceFrame, this::setReferenceFrame);
registerStringField("startTime", this::getStartTime, this::setStartTime);
registerStringField("endTime", this::getEndTime, this::setEndTime);
registerStringField("size", this::getSize, this::setSize);
registerStringField("timeResolution", this::getTimeResolution, this::setTimeResolution);
registerStringField("numberOfDivisions", this::getNumberOfDivisions, this::setNumberOfDivisions);
}
/**
* Sets the coefficients for the polynomial on the x-axis. The coefficients are ordered from low to
* high order.
*
* @param coefficientsX the x-axis polynomial's coefficients.
*/
@XmlElement(name = "coefficientsX")
public void setCoefficientsX(YoListDefinition coefficientsX)
{
this.coefficientsX = coefficientsX;
}
/**
* Sets the coefficients for the polynomial on the y-axis. The coefficients are ordered from low to
* high order.
*
* @param coefficientsY the y-axis polynomial's coefficients.
*/
@XmlElement(name = "coefficientsY")
public void setCoefficientsY(YoListDefinition coefficientsY)
{
this.coefficientsY = coefficientsY;
}
/**
* Sets the coefficients for the polynomial on the z-axis. The coefficients are ordered from low to
* high order.
*
* @param coefficientsZ the z-axis polynomial's coefficients.
*/
@XmlElement(name = "coefficientsZ")
public void setCoefficientsZ(YoListDefinition coefficientsZ)
{
this.coefficientsZ = coefficientsZ;
}
/**
* Sets the name id ({@link ReferenceFrame#getNameId()}) of the reference frame in which the
* polynomial is to be expressed, or {@code null} if it is expressed in world frame.
*
* @param referenceFrame the name id ({@link ReferenceFrame#getNameId()} of the reference frame.
*/
@XmlElement(name = "referenceFrame")
public void setReferenceFrame(String referenceFrame)
{
this.referenceFrame = referenceFrame;
}
/**
* Sets the initial time for the polynomial. The polynomial is visualize in the time domain
* t∈[startTime, endTime].
*
* Using this method sets it to a constant value.
*
*
* @param startTime the initial time.
*/
public void setStartTime(double startTime)
{
setStartTime(Double.toString(startTime));
}
/**
* Sets the initial time for the polynomial. The polynomial is visualize in the time domain
* t∈[startTime, endTime].
*
* Using this method allows to back the start time with a {@code YoVariable} by giving the variable
* name/fullname.
*
*
* @param startTime the initial time.
*/
@XmlElement
public void setStartTime(String startTime)
{
this.startTime = startTime;
}
/**
* Sets the final time for the polynomial. The polynomial is visualize in the time domain
* t∈[startTime, endTime].
*
* Using this method sets it to a constant value.
*
*
* @param endTime the final time.
*/
public void setEndTime(double endTime)
{
setEndTime(Double.toString(endTime));
}
/**
* Sets the final time for the polynomial. The polynomial is visualize in the time domain
* t∈[endTime, endTime].
*
* Using this method allows to back the end time with a {@code YoVariable} by giving the variable
* name/fullname.
*
*
* @param endTime the final time.
*/
@XmlElement
public void setEndTime(String endTime)
{
this.endTime = endTime;
}
/**
* Sets the size of the graphic.
*
* Using this method sets it to a constant value.
*
*
* @param size the size of the graphic.
*/
public void setSize(double size)
{
setSize(Double.toString(size));
}
/**
* Sets the size of the graphic.
*
* Using this method allows to back the size with a {@code YoVariable} by giving the variable
* name/fullname.
*
*
* @param size the size of the graphic.
*/
@XmlElement
public void setSize(String size)
{
this.size = size;
}
/**
* Sets the number of divisions for the time domain to a constant value.
*
* Using this method sets it to a constant value.
*
*
* @param timeResolution the time resolution.
*/
public void setTimeResolution(int timeResolution)
{
setTimeResolution(Integer.toString(timeResolution));
}
/**
* Sets the number of divisions for the time domain to a constant value.
*
* Using this method allows to back the resoluation with a {@code YoVariable} by giving the variable
* name/fullname.
*
*
* @param timeResolution the time resolution.
*/
@XmlElement
public void setTimeResolution(String timeResolution)
{
this.timeResolution = timeResolution;
}
/**
* Sets the number of radial divisions.
*
* Using this method sets it to a constant value.
*
*
* @param numberOfDivisions the number of radial divisions.
*/
public void setNumberOfDivisions(int numberOfDivisions)
{
setNumberOfDivisions(Integer.toString(numberOfDivisions));
}
/**
* Sets the number of radial divisions.
*
* Using this method allows to back the resoluation with a {@code YoVariable} by giving the variable
* name/fullname.
*
*
* @param numberOfDivisions the number of radial divisions.
*/
@XmlElement
public void setNumberOfDivisions(String numberOfDivisions)
{
this.numberOfDivisions = numberOfDivisions;
}
public YoListDefinition getCoefficientsX()
{
return coefficientsX;
}
public YoListDefinition getCoefficientsY()
{
return coefficientsY;
}
public YoListDefinition getCoefficientsZ()
{
return coefficientsZ;
}
public String getReferenceFrame()
{
return referenceFrame;
}
public String getStartTime()
{
return startTime;
}
public String getEndTime()
{
return endTime;
}
public String getSize()
{
return size;
}
public String getTimeResolution()
{
return timeResolution;
}
public String getNumberOfDivisions()
{
return numberOfDivisions;
}
@Override
public boolean equals(Object object)
{
if (object == this)
{
return true;
}
else if (!super.equals(object))
{
return false;
}
else if (object instanceof YoGraphicPolynomial3DDefinition other)
{
if (!Objects.equals(coefficientsX, other.coefficientsX))
return false;
if (!Objects.equals(coefficientsY, other.coefficientsY))
return false;
if (!Objects.equals(coefficientsZ, other.coefficientsZ))
return false;
if (!Objects.equals(referenceFrame, other.referenceFrame))
return false;
if (!Objects.equals(startTime, other.startTime))
return false;
if (!Objects.equals(endTime, other.endTime))
return false;
if (!Objects.equals(size, other.size))
return false;
if (!Objects.equals(timeResolution, other.timeResolution))
return false;
if (!Objects.equals(numberOfDivisions, other.numberOfDivisions))
return false;
return true;
}
else
{
return false;
}
}
}