hmi.elckerlyc.animationengine.transitions
Class HermiteSplineTransitionMU

java.lang.Object
  hmi.elckerlyc.animationengine.motionunit.AbstractMotionUnit
      hmi.elckerlyc.animationengine.transitions.TransitionMU
          hmi.elckerlyc.animationengine.transitions.HermiteSplineTransitionMU

All Implemented Interfaces:

KeyPositionManager, MotionUnit

public class HermiteSplineTransitionMU
extends TransitionMU

Can be used to create a C2 continuous transition between two kinematic motion units. The resulting motion approximates a minimum angular acceleration path for each joint.

Author:

Herwin van Welbergen

Field Summary

private static org.slf4j.Logger	logger
private AnimationPlayer	player
private float[]	q
private float[]	qEnd
private float[]	qrate
private float[]	qStart
private float[]	qStartN
private float[]	qStartP
private float[]	wEnd
private float[]	wStart

Fields inherited from class hmi.elckerlyc.animationengine.transitions.TransitionMU

joints

Constructor Summary

HermiteSplineTransitionMU()

HermiteSplineTransitionMU(List<VJoint> j, AnimationPlayer p)
Constructs the transition unit, assumes all lists have the same length, assumes kinematic control at the start of the transition: prev and next should be valid then

Method Summary

TransitionMU	copy(AnimationPlayer p) Create a copy of this motion unit and link it to the animationplayer
void	play(double t) Executes the motion unit, typically by rotating some VJoints
void	setEndPose(double endTime, double duration)
void	setStartPose()

Methods inherited from class hmi.elckerlyc.animationengine.transitions.TransitionMU

createTMU, filterJoints, getParameterValue, getPredictor, getPreferedDuration, getReplacementGroup, setParameterValue, setParameterValue

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

player

private AnimationPlayer player

qStart

private float[] qStart

qStartP

private float[] qStartP

qStartN

private float[] qStartN

qEnd

private float[] qEnd

wStart

private float[] wStart

wEnd

private float[] wEnd

qrate

private float[] qrate

q

private float[] q

logger

private static org.slf4j.Logger logger

Constructor Detail

HermiteSplineTransitionMU

public HermiteSplineTransitionMU()

HermiteSplineTransitionMU

public HermiteSplineTransitionMU(List<VJoint> j,
                                 AnimationPlayer p)

Constructs the transition unit, assumes all lists have the same length, assumes kinematic control at the start of the transition: prev and next should be valid then

Parameters:

j - joints to steer

p - animation player that provides start and end poses and velocities

Method Detail

copy

public TransitionMU 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

Specified by:

copy in class TransitionMU

play

public void play(double t)

Description copied from interface: MotionUnit

Executes the motion unit, typically by rotating some VJoints

Specified by:

play in interface MotionUnit

Specified by:

play in class TransitionMU

Parameters:

t - execution time, 0 < t < 1

setStartPose

public void setStartPose()

Specified by:

setStartPose in class TransitionMU

setEndPose

public void setEndPose(double endTime,
                       double duration)

Specified by:

setEndPose in class TransitionMU