org.mechio.api.animation.compiled

Class CompiledPath

java.lang.Object

java.util.AbstractCollection<E>

java.util.AbstractList<E>

java.util.ArrayList<Double>

org.mechio.api.animation.compiled.CompiledPath

All Implemented Interfaces:

Serializable, Cloneable, Iterable<Double>, Collection<Double>, List<Double>, RandomAccess

public class CompiledPath
extends ArrayList<Double>

An ArrayList of servo positions. The positions are spaced by myStepLength, in milliseconds.

Author:

Matthew Stevenson

See Also:

Serialized Form

Field Summary

Fields inherited from class java.util.AbstractList

modCount

Constructor Summary

Constructors

Constructor and Description
CompiledPath(long start, long stepLength) Constructs an empty path list with give start time and step length.

Method Summary

Methods

Modifier and Type	Method and Description
CompiledPath	clone() Creates a deep copy of the CompiledPath.
static CompiledPath	combine(List<CompiledPath> paths) Returns a composite of the paths in the given list.
static CompiledPath	compilePath(long start, long end, List<Point2D> interpolated, long stepLength) Creates a CompiledPath from the interpolated points.
double	estimatePosition(long time) Returns the estimated path position for the given time.
Long	getEndTime() Returns the time (from 0) the last position is expected to be consumed.
Long	getStartTime() Returns the start offset time.
double	getStep(long time) Returns the position for a given time.
Long	getStepLength() Returns the time between each position in millisecond.
boolean	matches(long start, long end, long step) Checks if the given values correspond to this CompiledPath.
CompiledPath	setTimes(long start, long end) Returns a copy of this path, using a new time window.

Methods inherited from class java.util.ArrayList

add, add, addAll, addAll, clear, contains, ensureCapacity, get, indexOf, isEmpty, iterator, lastIndexOf, listIterator, listIterator, remove, remove, removeAll, removeRange, retainAll, set, size, subList, toArray, toArray, trimToSize

Methods inherited from class java.util.AbstractList

equals, hashCode

Methods inherited from class java.util.AbstractCollection

containsAll, toString

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface java.util.List

containsAll, equals, hashCode

Constructor Detail

CompiledPath

public CompiledPath(long start,
            long stepLength)

Constructs an empty path list with give start time and step length.

Parameters:

start - offset for each position

stepLength - milliseconds between positions

Method Detail

getEndTime

public Long getEndTime()

Returns the time (from 0) the last position is expected to be consumed. This is equal to the startTime + stepLength*positions.

Returns:

time path is expected to end

getStartTime

public Long getStartTime()

Returns the start offset time. The time position i in the path should be used is myStartTime + myStepLength*i.

Returns:

the start offset time for each position

getStepLength

public Long getStepLength()

Returns the time between each position in millisecond. The time position i in the path should be used is myStartTime + myStepLength*i.

Returns:

the time between each position in milliseconds

getStep

public double getStep(long time)

Returns the position for a given time. The time position i in the path should be used is myStartTime + myStepLength*i.

Parameters:

time - the time of the position to be retrieved.

Returns:

the position for the given time. If the time is outside the bounds of the path -1 is returned

estimatePosition

public double estimatePosition(long time)

Returns the estimated path position for the given time.

Parameters:

time - time for which to estimate

Returns:

estimated position at time

matches

public boolean matches(long start,
              long end,
              long step)

Checks if the given values correspond to this CompiledPath.

Parameters:

start - offset for each position

end - bound on the time of the last position

step - expected position spacing

Returns:

true if the given values match this path, otherwise false

clone

public CompiledPath clone()

Creates a deep copy of the CompiledPath.

Overrides:

clone in class ArrayList<Double>

Returns:

a deep copy of the CompiledPath

combine

public static CompiledPath combine(List<CompiledPath> paths)

Returns a composite of the paths in the given list. If two or more paths overlap for a give time, the path with the lowest index is used.

Parameters:

paths - list of paths to add

Returns:

new Compiled path containing positions from given paths

setTimes

public CompiledPath setTimes(long start,
                    long end)

Returns a copy of this path, using a new time window. If there is no change in times it will return itself. Otherwise, a new CompiledPath is created with the given start time. If the new start time is earlier or end time later, then those positions are filled with -1. If the new start time is later or end time earlier, those positions are truncated.

Parameters:

start - the new start time

end - the new stop time

Returns:

if there is no change in times returns itself, otherwise returns a new CompiledPath consisting of values from the existing path using the new times

compilePath

public static CompiledPath compilePath(long start,
                       long end,
                       List<Point2D> interpolated,
                       long stepLength)

Creates a CompiledPath from the interpolated points.

Parameters:

start - path start time

end - path end time

interpolated - points to compile

stepLength - milliseconds between positions multiples of stepLength

Returns:

CompiledPath from interpolated points