hmi.elckerlyc.animationengine.gaze
Class GazeMU

java.lang.Object
  hmi.elckerlyc.animationengine.gaze.GazeMU

All Implemented Interfaces:

KeyPositionManager, MotionUnit

Direct Known Subclasses:

DynamicGazeMU, EyeGazeMU

public class GazeMU
extends Object
implements MotionUnit

Timing: ready: gaze target reached relax: start to move back to previous pose (should be rest pose?)

Author:

welberge TODO: spread rotation over multiple joints, a la Boulic? TODO: involve eyes, use Tweed & Vilis model there too Theoretical background End pose of the head: Tweed, D. (1997). Three-dimensional model of the human eye-head saccadic system. The Journal of Neurophysiology, 77 (2), pp. 654-666. Fixed head rotation axis during gaze: Tweed, D., & Vilis, T. (1992). Listing's Law for Gaze-Directing Head Movements. In A. Berthoz, W. Graf, & P. Vidal (Eds.), The Head-Neck Sensory-Motor System (pp. 387-391). New York: Oxford University Press.

Field Summary

private KeyPositionManager	keyPositionManager
protected VJoint	lEye
private float[]	localGaze
protected VJoint	neck
protected double	offsetAngle
protected OffsetDirection	offsetDirection
protected AnimationPlayer	player
protected double	preparationDuration
protected float[]	qGaze
protected float[]	qStart
protected float[]	qStartLeftEye
protected float[]	qStartRightEye
protected float[]	qTemp
protected KeyPosition	ready
protected KeyPosition	relax
protected double	relaxDuration
protected VJoint	rEye
protected String	target
protected TimeManipulator	tmp
protected float[]	vecTemp
protected WorldObjectManager	woManager
protected WorldObject	woTarget

Constructor Summary

GazeMU()

Method Summary

void	addKeyPosition(KeyPosition kp)
GazeMU	copy(AnimationPlayer p) Create a copy of this motion unit and link it to the animationplayer
TimedMotionUnit	createTMU(BMLBlockPeg bmlBlockPeg, String i, String bmlId) Creates the TimedMotionUnit corresponding to this motion unit
KeyPosition	getKeyPosition(String name)
List<KeyPosition>	getKeyPositions() Gets a sorted view of the list of keypositions
protected float[]	getOffsetRotation()
String	getParameterValue(String name)
MotionUnit	getPredictor(VJoint predict) Creates a gaze predictor.
double	getPreferedDuration()
String	getReplacementGroup() Get the motionunit replacement group (=typically the BML behavior) Used to determine the currently active persistent TMU for this group in the player Only one group is active at a time
void	play(double t) Executes the motion unit, typically by rotating some VJoints
private void	playEye(double t, float[] qDesNeck, float[] qStartEye, VJoint eye)
void	removeKeyPosition(String id)
(package private) void	setEndRotation(float[] gazeDir)
(package private) void	setEndRotation(float[] gazeDir, float[] q)
void	setKeyPositions(List<KeyPosition> p)
void	setParameterValue(String name, float value)
void	setParameterValue(String name, String value)
void	setStartPose(double prepDur, double relaxDur)
void	setTarget(String target)
void	setTimeManipulator(TimeManipulator tmp) Set the time manimpulator that describes the velocity profile for attack and decay.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

qGaze

protected float[] qGaze

qTemp

protected float[] qTemp

qStart

protected float[] qStart

qStartLeftEye

protected float[] qStartLeftEye

qStartRightEye

protected float[] qStartRightEye

vecTemp

protected float[] vecTemp

ready

protected KeyPosition ready

relax

protected KeyPosition relax

neck

protected VJoint neck

rEye

protected VJoint rEye

lEye

protected VJoint lEye

player

protected AnimationPlayer player

woManager

protected WorldObjectManager woManager

target

protected String target

tmp

protected TimeManipulator tmp

woTarget

protected WorldObject woTarget

preparationDuration

protected double preparationDuration

relaxDuration

protected double relaxDuration

keyPositionManager

private KeyPositionManager keyPositionManager

localGaze

private float[] localGaze

offsetAngle

protected double offsetAngle

offsetDirection

protected OffsetDirection offsetDirection

Constructor Detail

GazeMU

public GazeMU()

Method Detail

getOffsetRotation

protected float[] getOffsetRotation()

copy

public GazeMU copy(AnimationPlayer p)

Description copied from interface: MotionUnit

Create a copy of this motion unit and link it to the animationplayer

Specified by:

copy in interface MotionUnit

setTarget

public void setTarget(String target)
               throws MUPlayException

Throws:

MUPlayException

setStartPose

public void setStartPose(double prepDur,
                         double relaxDur)
                  throws MUPlayException

Throws:

MUPlayException

setEndRotation

void setEndRotation(float[] gazeDir)
              throws MUPlayException

Parameters:

gazeDir - gaze direction

Throws:

MUPlayException

setEndRotation

void setEndRotation(float[] gazeDir,
                    float[] q)
              throws MUPlayException

Parameters:

gazeDir - gaze direction

Throws:

MUPlayException

getPredictor

public MotionUnit getPredictor(VJoint predict)

Creates a gaze predictor. The gaze predictor starts at whatever start pose the first call to play on its TMU will set. This also locks the target pos. Since the GazeMU allows flexible start poses, it's not very handy nor needed to use a prediction on any time before the ready sync.

Specified by:

getPredictor in interface MotionUnit

Parameters:

predict - VJoint to execute the prediction on

Returns:

predictor motion unit

getPreferedDuration

public double getPreferedDuration()

Specified by:

getPreferedDuration in interface MotionUnit

Returns:

Prefered duration (in seconds) of this motion unit, 0 means not determined/infinite

playEye

private void playEye(double t,
                     float[] qDesNeck,
                     float[] qStartEye,
                     VJoint eye)
              throws MUPlayException

Throws:

MUPlayException

play

public void play(double t)
          throws MUPlayException

Description copied from interface: MotionUnit

Executes the motion unit, typically by rotating some VJoints

Specified by:

play in interface MotionUnit

Parameters:

t - execution time, 0 < t < 1

Throws:

MUPlayException - if the play fails for some reason

createTMU

public TimedMotionUnit createTMU(BMLBlockPeg bmlBlockPeg,
                                 String i,
                                 String bmlId)

Description copied from interface: MotionUnit

Creates the TimedMotionUnit corresponding to this motion unit

Specified by:

createTMU in interface MotionUnit

i - behaviour id

bmlId - BML block id

Returns:

the TMU

setParameterValue

public void setParameterValue(String name,
                              String value)

Specified by:

setParameterValue in interface MotionUnit

getParameterValue

public String getParameterValue(String name)

Specified by:

getParameterValue in interface MotionUnit

setParameterValue

public void setParameterValue(String name,
                              float value)

Specified by:

setParameterValue in interface MotionUnit

setTimeManipulator

public void setTimeManipulator(TimeManipulator tmp)

Set the time manimpulator that describes the velocity profile for attack and decay. Default is SigmoidManipulator(3,4)

getReplacementGroup

public String getReplacementGroup()

Description copied from interface: MotionUnit

Get the motionunit replacement group (=typically the BML behavior) Used to determine the currently active persistent TMU for this group in the player Only one group is active at a time

Specified by:

getReplacementGroup in interface MotionUnit

addKeyPosition

public void addKeyPosition(KeyPosition kp)

Specified by:

addKeyPosition in interface KeyPositionManager

getKeyPositions

public List<KeyPosition> getKeyPositions()

Description copied from interface: KeyPositionManager

Gets a sorted view of the list of keypositions

Specified by:

getKeyPositions in interface KeyPositionManager

setKeyPositions

public void setKeyPositions(List<KeyPosition> p)

Specified by:

setKeyPositions in interface KeyPositionManager

getKeyPosition

public KeyPosition getKeyPosition(String name)

Specified by:

getKeyPosition in interface KeyPositionManager

removeKeyPosition

public void removeKeyPosition(String id)

Specified by:

removeKeyPosition in interface KeyPositionManager