hmi.elckerlyc.animationengine.pointing
Class PointingMU

java.lang.Object
  hmi.elckerlyc.animationengine.motionunit.AbstractMotionUnit
      hmi.elckerlyc.animationengine.pointing.PointingMU

All Implemented Interfaces:

KeyPositionManager, MotionUnit

Direct Known Subclasses:

DynamicPointingMU

public class PointingMU
extends AbstractMotionUnit

Timing: ready: gaze target reached relax: start to move back to rest pose (for now 0 rotation of neck joints)

Author:

welberge TODO: return to resting pose (requires resting pose :) TODO: Fitts' law based default timing TODO: Predictor TODO: Double-hand point

Field Summary

protected String	elbowId
protected String	fingerTipId
protected String	hand
protected AnimationPlayer	player
protected double	preparationDuration
protected float[]	qElbow
protected float[]	qElbowStart
protected float[]	qShoulder
protected float[]	qShoulderStart
protected float[]	qTemp
protected KeyPosition	ready
protected KeyPosition	relax
protected String	shoulderId
protected AnalyticalIKSolver	solver
protected String	target
protected TimeManipulator	tmp
protected float[]	vecTemp
protected float[]	vecTemp2
protected VJoint	vjElbow
protected VJoint	vjFingerTip
protected VJoint	vjShoulder
protected VJoint	vjWrist
protected WorldObjectManager	woManager
protected WorldObject	woTarget
protected String	wristId

Constructor Summary

PointingMU()

PointingMU(VJoint shoulder, VJoint elbow, VJoint wrist, VJoint fingerTip)

Method Summary

PointingMU	copy(AnimationPlayer p) Create a copy of this motion unit and link it to the animationplayer
TimedMotionUnit	createTMU(BMLBlockPeg bbPeg, String i, String bmlId) Creates the TimedMotionUnit corresponding to this motion unit
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
void	setEndRotation(float[] vecPos)
void	setHand(String hand)
void	setParameterValue(String name, float value)
void	setParameterValue(String name, String value)
void	setStartPose(double prep)
void	setTarget(String target)
void	setTimeManipulator(TimeManipulator tmp) Set the time manimpulator that describes the velocity profile for attack and decay.
private void	setupSolver()

Methods inherited from class hmi.elckerlyc.animationengine.motionunit.AbstractMotionUnit

addKeyPosition, getKeyPosition, getKeyPositions, removeKeyPosition, setKeyPositions

Methods inherited from class java.lang.Object

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

Field Detail

qShoulder

protected float[] qShoulder

qElbow

protected float[] qElbow

qShoulderStart

protected float[] qShoulderStart

qElbowStart

protected float[] qElbowStart

qTemp

protected float[] qTemp

vecTemp

protected float[] vecTemp

vecTemp2

protected float[] vecTemp2

ready

protected KeyPosition ready

relax

protected KeyPosition relax

player

protected AnimationPlayer player

woManager

protected WorldObjectManager woManager

target

protected String target

tmp

protected TimeManipulator tmp

vjShoulder

protected VJoint vjShoulder

vjElbow

protected VJoint vjElbow

vjWrist

protected VJoint vjWrist

vjFingerTip

protected VJoint vjFingerTip

shoulderId

protected String shoulderId

elbowId

protected String elbowId

wristId

protected String wristId

fingerTipId

protected String fingerTipId

solver

protected AnalyticalIKSolver solver

hand

protected String hand

woTarget

protected WorldObject woTarget

preparationDuration

protected double preparationDuration

Constructor Detail

PointingMU

public PointingMU()

PointingMU

public PointingMU(VJoint shoulder,
                  VJoint elbow,
                  VJoint wrist,
                  VJoint fingerTip)

Method Detail

setupSolver

private void setupSolver()

copy

public PointingMU copy(AnimationPlayer p)

Description copied from interface: MotionUnit

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

setTarget

public void setTarget(String target)
               throws MUPlayException

Throws:

MUPlayException

setStartPose

public void setStartPose(double prep)
                  throws MUPlayException

Throws:

MUPlayException

setEndRotation

public void setEndRotation(float[] vecPos)

Parameters:

gazeDir - gaze direction

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.

Parameters:

predict - VJoint to execute the prediction on

Returns:

predictor motion unit

getPreferedDuration

public double getPreferedDuration()

Returns:

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

setHand

public void setHand(String hand)

play

public void play(double t)

Description copied from interface: MotionUnit

Executes the motion unit, typically by rotating some VJoints

Parameters:

t - execution time, 0 < t < 1

createTMU

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

Description copied from interface: MotionUnit

Creates the TimedMotionUnit corresponding to this motion unit

i - behaviour id

bmlId - BML block id

Returns:

the TMU

setParameterValue

public void setParameterValue(String name,
                              String value)

getParameterValue

public String getParameterValue(String name)

setParameterValue

public void setParameterValue(String name,
                              float value)

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