hmi.physics.assembler
Class PhysicalHumanoidAssembler

java.lang.Object
  hmi.xml.XMLStructureAdapter
      hmi.physics.assembler.PhysicalHumanoidAssembler

All Implemented Interfaces:

XMLStructure

public class PhysicalHumanoidAssembler
extends XMLStructureAdapter

Sets up PhysicalHumanoid and its connection to the VObject that is steered by the PhysicalHumanoid

Author:

welberge

Field Summary

private VJoint	human
private PhysicalHumanoid	ph
PhysicalSegmentAssembler	rootAssembler
ArrayList<PhysicalSegmentAssembler>	segmentAssemblers

Fields inherited from class hmi.xml.XMLStructureAdapter

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

Constructor Summary

PhysicalHumanoidAssembler(VJoint h, PhysicalHumanoid p)
Constructor

Method Summary

void	addPhysicalSegmentAssembler(PhysicalSegmentAssembler psa) Adds a new PhysicalSegmentAssembler, assumes psa has a valid segment attached
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.
void	clear() Set to 'empty' state, remove all segments etc
void	createFromGNode(GNode node, String[] segments, String[] endSegments, String rootSegment, JointType[] types, float[] axes, float[] limits1, float[] limits2, float[] limits3)
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.
PhysicalHumanoid	getPhysicalHumanoid()
String	getXMLTag() returns the XML tag that is used to encode this type of XMLStructure.
void	removePhysicalSegmentAssembler(PhysicalSegmentAssembler psa)
private void	setJoints()
void	setRootSegmentAssembler(PhysicalSegmentAssembler psa) Sets the root assembler
void	setupJoints(String rootJoint) Create the PhysicalSegments and PhysicalJoints
void	setupStartJointOffset(PhysicalSegmentAssembler psa)

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

human

private VJoint human

ph

private PhysicalHumanoid ph

rootAssembler

public PhysicalSegmentAssembler rootAssembler

segmentAssemblers

public ArrayList<PhysicalSegmentAssembler> segmentAssemblers

Constructor Detail

PhysicalHumanoidAssembler

public PhysicalHumanoidAssembler(VJoint h,
                                 PhysicalHumanoid p)

Constructor

Parameters:

h - the visualization humanoid

p - the PhysicalHumanoid

Method Detail

createFromGNode

public void createFromGNode(GNode node,
                            String[] segments,
                            String[] endSegments,
                            String rootSegment,
                            JointType[] types,
                            float[] axes,
                            float[] limits1,
                            float[] limits2,
                            float[] limits3)

setupStartJointOffset

public void setupStartJointOffset(PhysicalSegmentAssembler psa)

setupJoints

public void setupJoints(String rootJoint)

Create the PhysicalSegments and PhysicalJoints

setJoints

private void setJoints()

clear

public void clear()

Set to 'empty' state, remove all segments etc

addPhysicalSegmentAssembler

public void addPhysicalSegmentAssembler(PhysicalSegmentAssembler psa)

Adds a new PhysicalSegmentAssembler, assumes psa has a valid segment attached

removePhysicalSegmentAssembler

public void removePhysicalSegmentAssembler(PhysicalSegmentAssembler psa)

setRootSegmentAssembler

public void setRootSegmentAssembler(PhysicalSegmentAssembler psa)

Sets the root assembler

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()

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

Specified by:

getXMLTag in interface XMLStructure

Overrides:

getXMLTag in class XMLStructureAdapter

getPhysicalHumanoid

public PhysicalHumanoid getPhysicalHumanoid()