hmi.elckerlyc.animationengine.transitions
Class SlerpPhysicalTransitionMU

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

All Implemented Interfaces:

KeyPositionManager, MotionUnit

public class SlerpPhysicalTransitionMU
extends TransitionMU

Creates a transition from physical simulation to kinematic motion

Author:

welberge

Field Summary

private static org.slf4j.Logger	logger
private AnimationPlayer	player
private float[]	q
private float[]	qEnd
private float[]	qStart

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

joints

Constructor Summary

SlerpPhysicalTransitionMU()

SlerpPhysicalTransitionMU(List<VJoint> j, AnimationPlayer pl)
Constructs the transition unit, assumes all lists have the same length

Method Summary

TransitionMU	copy(AnimationPlayer player) 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

qStart

private float[] qStart

qEnd

private float[] qEnd

q

private float[] q

player

private AnimationPlayer player

logger

private static org.slf4j.Logger logger

Constructor Detail

SlerpPhysicalTransitionMU

public SlerpPhysicalTransitionMU()

SlerpPhysicalTransitionMU

public SlerpPhysicalTransitionMU(List<VJoint> j,
                                 AnimationPlayer pl)

Constructs the transition unit, assumes all lists have the same length

Parameters:

j - joints to steer

pl - animationplayer

Method Detail

copy

public TransitionMU copy(AnimationPlayer player)

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