hmi.elckerlyc.animationengine.procanimation
Class EndEffector

java.lang.Object
  hmi.xml.XMLStructureAdapter
      hmi.elckerlyc.animationengine.procanimation.EndEffector

All Implemented Interfaces:

XMLStructure

public class EndEffector
extends XMLStructureAdapter

Contains the end effector and end effector path (rotation and/or translation) of an IK motion The path can be a function of time t (0 < t < 1) and several other variables.

Author:

welberge Updated, June 22, 2007 Support for multiple parameters added., Mark ter Maat /

Field Summary

private boolean	local
private org.nfunk.jep.Node	nodeSwivel
private org.nfunk.jep.Node[]	nodeTrans
private org.lsmp.djep.xjep.XJep	parser
private String	swivelFormula
private String	target
private String[]	transFormula

Fields inherited from class hmi.xml.XMLStructureAdapter

ATTRIBUTE_TOKEN_DELIMITERS, COMMA_SEPARATOR, DECODEDARRAYSIZE, DEFAULT_RECOVER_MODE, NEWLINE, SYSTEMNEWLINE, TAB, TAB_STRING

Constructor Summary

EndEffector(org.lsmp.djep.xjep.XJep p)
Constructor, no target set

EndEffector(org.lsmp.djep.xjep.XJep parser, String target)
Constructor

Method Summary

StringBuilder	appendAttributeString(StringBuilder buf) Appends a String to buf that encodes the attributes for the XML encoding.
StringBuilder	appendContent(StringBuilder buf, XMLFormatting fmt) Appends a String to buf that encodes the contents for the XML encoding.
boolean	decodeAttribute(String attrName, String attrValue) decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized.
boolean	decodeAttribute(String attrName, String attrValue, XMLTokenizer tokenizer) decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized.
void	decodeContent(XMLTokenizer tokenizer) decodes the XML contents, i.e. the XML between the STag and ETag of the encoding.
EndEffector	deepCopy()
double	evaluateSingleIndex(int target) Evaluates for a single index
double	evaluateSwivel() Evaluates the swivel angle for time 0
void	evaluateTrans(float[] dst) Evaluates the translation position for the current parameter settings and time
void	evaluateTrans(float[] dst, double t) Evaluates the translation position for the current parameter settings at time t, 0<=t<=1
Vector	findParameters(Vector v) returns list with all parameters used in all formulas
String	getSwivel() Get the swivel formula
String	getTarget() Get the target
String	getTranslationFormula(int i) Get the translation formula
String	getXMLTag() returns the XML tag that is used to encode this type of XMLStructure.
boolean	isLocal() Checks if local coordinates are used for this endeffector
void	mirror() Mirrors the movement trajectory on the XY plane, switches left/right targets
void	set(EndEffector eff) Copy the values of eff into this endeffector, links the target joint.
void	setLocal(boolean local) Set if local coordinates should be used
void	setSwivel(String s) Set the swivel formula
void	setTranslation(int i, String translation) Set the translation path

Methods inherited from class hmi.xml.XMLStructureAdapter

appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttributes, appendAttributes, appendAttributeString, appendBooleans, appendCloseEmptyTag, appendCloseSTag, appendComment, appendContent, appendDoubleElement, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendETag, appendETag, appendFloatArrayElement, appendFloatElement, appendFloats, appendIntArrayElement, appendIntElement, appendInts, appendLongElement, appendNewLine, appendNewLine, appendNewLine, appendOpenSTag, appendOptionalDoubleElement, appendOptionalFloatElement, appendOptionalIntElement, appendOptionalLongElement, appendSpaces, appendSpaces, appendSTag, appendSTag, appendSTag, appendStringArrayElement, appendStrings, appendSystemNewLine, appendTab, appendTextElement, appendXML, appendXML, appendXML, appendXML, appendXML, appendXMLStructure, appendXMLStructureList, appendXMLTextElementList, countTokens, countTokens, decodeAttributes, decodeBoolean, decodeBooleanArray, decodeBooleanArray, decodeBooleanArray, decodeBooleanArray, decodeDouble, decodeDoubleArray, decodeDoubleArray, decodeDoubleArray, decodeDoubleArray, decodeFloat, decodeFloatArray, decodeFloatArray, decodeFloatArray, decodeFloatArray, decodeInt, decodeIntArray, decodeIntArray, decodeIntArray, decodeIntArray, decodeLong, decodeStringArray, decodeStringArray, decodeStringArray, decodeStringArray, decodeXMLStructureList, decodeXMLValueElement, getNamespace, getOptionalAttribute, getOptionalAttribute, getOptionalBooleanAttribute, getOptionalDoubleAttribute, getOptionalFloatAttribute, getOptionalIntAttribute, getOptionalLongAttribute, getRequiredAttribute, getRequiredBooleanAttribute, getRequiredDoubleAttribute, getRequiredFloatAttribute, getRequiredIntAttribute, getRequiredLongAttribute, getTagLine, hasContent, parseXMLElement, postProcess, preProcess, readXML, readXML, readXML, setConsoleAttributeEnabled, setDefaultRecoverMode, setRecoverMode, spaces, toString, toXMLString, toXMLString, toXMLString, toXMLString, toXMLString, toXMLString, writeXML, writeXML, writeXML, writeXML, xmlTag

Methods inherited from class java.lang.Object

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

Field Detail

nodeTrans

private org.nfunk.jep.Node[] nodeTrans

nodeSwivel

private org.nfunk.jep.Node nodeSwivel

transFormula

private String[] transFormula

swivelFormula

private String swivelFormula

target

private String target

local

private boolean local

parser

private org.lsmp.djep.xjep.XJep parser

Constructor Detail

EndEffector

public EndEffector(org.lsmp.djep.xjep.XJep p)

Constructor, no target set

Parameters:

p - parsers

EndEffector

public EndEffector(org.lsmp.djep.xjep.XJep parser,
                   String target)

Constructor

Parameters:

parser - parser

target - endeffector target name

Method Detail

mirror

public void mirror()

Mirrors the movement trajectory on the XY plane, switches left/right targets

set

public void set(EndEffector eff)

Copy the values of eff into this endeffector, links the target joint.

Parameters:

eff - endeffector to copy

getTarget

public String getTarget()

Get the target

Returns:

the target

getTranslationFormula

public String getTranslationFormula(int i)

Get the translation formula

Parameters:

i - index (0=x, 1=y, 2=z)

Returns:

the translation formula

setTranslation

public void setTranslation(int i,
                           String translation)

Set the translation path

Parameters:

i - the translation axis (0=x,1=y,2=z)

translation - the translation path a formula of 0

getSwivel

public String getSwivel()

Get the swivel formula

Returns:

the swivel formula

setSwivel

public void setSwivel(String s)

Set the swivel formula

Parameters:

s - the swivel formula

Throws:

org.nfunk.jep.ParseException

evaluateSwivel

public double evaluateSwivel()

Evaluates the swivel angle for time 0

Returns:

the swivel angle, 0 if invalid formula

evaluateTrans

public void evaluateTrans(float[] dst,
                          double t)

Evaluates the translation position for the current parameter settings at time t, 0<=t<=1

evaluateTrans

public void evaluateTrans(float[] dst)

Evaluates the translation position for the current parameter settings and time

evaluateSingleIndex

public double evaluateSingleIndex(int target)

Evaluates for a single index

Parameters:

target - x=0,y=1,z=2

isLocal

public boolean isLocal()

Checks if local coordinates are used for this endeffector

Returns:

true if local coordinates are used

setLocal

public void setLocal(boolean local)

Set if local coordinates should be used

Parameters:

local - new local value

deepCopy

public EndEffector deepCopy()

findParameters

public Vector findParameters(Vector v)

returns list with all parameters used in all formulas

decodeAttribute

public boolean decodeAttribute(String attrName,
                               String attrValue)

decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized. Might throw a RuntimeException when an attribute has been recognized, but is ill formatted.

Overrides:

decodeAttribute in class XMLStructureAdapter

decodeAttribute

public boolean decodeAttribute(String attrName,
                               String attrValue,
                               XMLTokenizer tokenizer)

decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized. Might throw a RuntimeException when an attribute has been recognized, but is ill formatted. Moreover, an XMLTokenizer reference is available which can be queried for attributes, like getTokenLine() or getTokenCharPos(), which might be helpful to produce error messages referring to lines/positions within the XML document

Overrides:

decodeAttribute in class XMLStructureAdapter

decodeContent

public void decodeContent(XMLTokenizer tokenizer)
                   throws IOException

decodes the XML contents, i.e. the XML between the STag and ETag of the encoding.

Overrides:

decodeContent in class XMLStructureAdapter

Throws:

IOException

appendContent

public StringBuilder appendContent(StringBuilder buf,
                                   XMLFormatting fmt)

Appends a String to buf that encodes the contents for the XML encoding. The encoding should start on a new line, using indentation equal to tab. There should be no newline after the encoding.

Overrides:

appendContent in class XMLStructureAdapter

appendAttributeString

public StringBuilder appendAttributeString(StringBuilder buf)

Appends a String to buf that encodes the attributes for the XML encoding. When non empty, the attribute string should start with a space character. Hint: call the appendAttribute(StringBuffer buf, String attrName, String attrValue) for every relevant attribute; this takes care of the leading space as well as spaces in between the attributes) The encoding should preferably not add newline characters.

Overrides:

appendAttributeString in class XMLStructureAdapter

getXMLTag

public String getXMLTag()

Description copied from class: XMLStructureAdapter

returns the XML tag that is used to encode this type of XMLStructure. The default returns null.

Specified by:

getXMLTag in interface XMLStructure

Overrides:

getXMLTag in class XMLStructureAdapter