org.mechio.api.animation

Class Animation

java.lang.Object

org.mechio.api.animation.Animation

public class Animation
extends Object

An Animation holds a map of servo IDs and Channel. This also stores the JointParameters corresponding to each Channel.

Author:

Matthew Stevenson

Constructor Summary

Constructors

Constructor and Description
Animation() Creates an empty Animation.
Animation(org.jflux.api.common.rk.config.VersionProperty version) Creates an Animation with the given VersionProperty.

Method Summary

Methods

Modifier and Type	Method and Description
void	addAddOn(org.jflux.api.common.rk.services.addon.ServiceAddOn<org.jflux.api.common.rk.playable.Playable> addOn)
void	addChannel(Channel channel) Adds a given Channel for the given servo parameters.
void	addChannels(List<Channel> channels) Adds a list of Channels.
Animation	clone() Returns a deep copy of the Animation.
CompiledMap	compileMap(long start, long end, long stepLength) Creates a composite CompiledPath from all MotionPaths for given times.
boolean	containsLogicalId(int id) Returns true if there exists a channel for the given id.
boolean	equals(Object obj)
List<org.jflux.api.common.rk.services.addon.ServiceAddOn<org.jflux.api.common.rk.playable.Playable>>	getAddOns()
Channel	getChannel(int id) Returns the Channel for id, ordered by when the Channels were added.
Channel	getChannelByLogicalId(int id) Returns the Channel for the given id.
List<Channel>	getChannels() Returns a set of entries of servo ids and Channels
CompiledMap	getCompiledMap(long stepLength) Creates a CompiledMap from contained Channels' CompiledPaths.
Set<Map.Entry<Integer,Channel>>	getEntrySet() Returns a set of entries of servo ids and Channels
long	getLength()
Long	getStartTime() Returns the start time
Long	getStopTime() Returns the stop time
List<SyncPointGroupConfig.SyncGroupConfig>	getSyncGroupConfigs()
org.jflux.api.common.rk.config.VersionProperty	getVersion() Returns The Animation's Version.
int	hashCode()
void	insertChannel(int i, Channel channel) Adds a given Channel for the given servo parameters, and orders it by the given index.
void	removeAddOn(org.jflux.api.common.rk.services.addon.ServiceAddOn<org.jflux.api.common.rk.playable.Playable> addOn)
Channel	removeChannelByListOrder(int i) Removes the ith Channel, ordered by when the channels were added.
Channel	removeChannelByLogicalId(int logicalId) Removes the Channel with the given logical id.
void	setStartTime(Long time) Sets the start time
void	setStopTime(Long time) Sets the stop time
void	setSyncGroupConfigs(List<SyncPointGroupConfig.SyncGroupConfig> configs)
void	setVersion(String name, String versionNumber) Set the Animation's Version with the given name and version number.

Methods inherited from class java.lang.Object

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

Constructor Detail

Animation

public Animation()

Creates an empty Animation.

Animation

public Animation(org.jflux.api.common.rk.config.VersionProperty version)

Creates an Animation with the given VersionProperty.

Parameters:

version - the Animation's Version

Method Detail

getVersion

public org.jflux.api.common.rk.config.VersionProperty getVersion()

Returns The Animation's Version.

Returns:

the Animation's Version

setVersion

public void setVersion(String name,
              String versionNumber)

Set the Animation's Version with the given name and version number.

Parameters:

name - the Animations new name

versionNumber - the Animations new version number

addChannel

public void addChannel(Channel channel)
                throws IllegalArgumentException

Adds a given Channel for the given servo parameters.

Parameters:

channel - Channel to add

Throws:

IllegalArgumentException - if servo id has already been added

NullPointerException - if channel is null

addChannels

public void addChannels(List<Channel> channels)
                 throws NullPointerException

Adds a list of Channels.

Parameters:

channels - Channels to add

Throws:

NullPointerException - if channels is null

setStartTime

public void setStartTime(Long time)

Sets the start time

Parameters:

time - start time

getStartTime

public Long getStartTime()

Returns the start time

Returns:

start time

setStopTime

public void setStopTime(Long time)

Sets the stop time

Parameters:

time - stop time

getStopTime

public Long getStopTime()

Returns the stop time

Returns:

stop time

insertChannel

public void insertChannel(int i,
                 Channel channel)
                   throws IllegalArgumentException

Adds a given Channel for the given servo parameters, and orders it by the given index.

Parameters:

channel - Channel to add

i - the index to insert the channel

Throws:

IllegalArgumentException - if servo id has already been added

NullPointerException - if channel is null

containsLogicalId

public boolean containsLogicalId(int id)

Returns true if there exists a channel for the given id.

Parameters:

id - servo id

Returns:

true if there exists a channel for the given id.

getChannel

public Channel getChannel(int id)

Returns the Channel for id, ordered by when the Channels were added.

Parameters:

id - for Channel

Returns:

Channel for given id

getChannelByLogicalId

public Channel getChannelByLogicalId(int id)

Returns the Channel for the given id.

Parameters:

id - Servo id for Channel

Returns:

Channel for given id, null if none exists

getEntrySet

public Set<Map.Entry<Integer,Channel>> getEntrySet()

Returns a set of entries of servo ids and Channels

Returns:

a set of entries of servo ids and Channels

getChannels

public List<Channel> getChannels()

Returns a set of entries of servo ids and Channels

Returns:

a set of entries of servo ids and Channels

removeChannelByListOrder

public Channel removeChannelByListOrder(int i)

Removes the i^th Channel, ordered by when the channels were added.

Parameters:

i - the index of the channel to remove

Returns:

the removed Channel, null if i is out of bounds

removeChannelByLogicalId

public Channel removeChannelByLogicalId(int logicalId)

Removes the Channel with the given logical id.

Parameters:

logicalId - the logicalId of the Channel to remove

Returns:

the removed Channel, null if the logicalId is not found.

getCompiledMap

public CompiledMap getCompiledMap(long stepLength)

Creates a CompiledMap from contained Channels' CompiledPaths.

Parameters:

stepLength - milliseconds between positions

Returns:

CompiledMap from contained Channels' CompiledPaths

compileMap

public CompiledMap compileMap(long start,
                     long end,
                     long stepLength)

Creates a composite CompiledPath from all MotionPaths for given times. Start and end constraints ignored only when (start == -1 && end == -1).

Parameters:

start - path start time

end - path end time

stepLength - milliseconds between positions

Returns:

combined path from MotionPaths for given times

getLength

public long getLength()

setSyncGroupConfigs

public void setSyncGroupConfigs(List<SyncPointGroupConfig.SyncGroupConfig> configs)

getSyncGroupConfigs

public List<SyncPointGroupConfig.SyncGroupConfig> getSyncGroupConfigs()

clone

public Animation clone()

Returns a deep copy of the Animation.

Overrides:

clone in class Object

Returns:

a deep copy of the Animation.

addAddOn

public void addAddOn(org.jflux.api.common.rk.services.addon.ServiceAddOn<org.jflux.api.common.rk.playable.Playable> addOn)

removeAddOn

public void removeAddOn(org.jflux.api.common.rk.services.addon.ServiceAddOn<org.jflux.api.common.rk.playable.Playable> addOn)

getAddOns

public List<org.jflux.api.common.rk.services.addon.ServiceAddOn<org.jflux.api.common.rk.playable.Playable>> getAddOns()

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object