org.robokind.api.motion.utils

Class PositionTargetFrameSource

java.lang.Object

org.robokind.api.motion.utils.PositionTargetFrameSource

All Implemented Interfaces:

FrameSource<Robot.RobotPositionMap>, RobotFrameSource

public class PositionTargetFrameSource
extends Object
implements RobotFrameSource

A FrameSource which moves the Joints of a Robot towards a set of target positions with a limited velocity.

Author:

Matthew Stevenson

Constructor Summary

Constructors

Constructor and Description
PositionTargetFrameSource(double velocity, Robot.RobotPositionMap targetPositions) Creates a new MotionTargetFrameSource

Method Summary

Methods

Modifier and Type	Method and Description
void	clearPositions() Clears all target positions and disables this MotionTargetFrameSource.
protected void	disableAtGoal()
boolean	getEnabled() Returns true if enabled
MotionFrame	getMovements(long time, long interval) Creates a MotionFrame starting at the Robot's goal positions, and moving towards the target positions as much as the velocity will allow in the given time interval.
Robot	getRobot()
boolean	getStopOnGoalFlag() Returns the StopOnGoalFlag.
double	getVelocity() Returns the velocity, measured as (change in NormalizedDouble)/millisecond
protected boolean	isAtGoal()
void	putPosition(Robot.JointId id, NormalizedDouble position) Set the target position for the given JointId and enables this MotionTargetFrameSource.
void	putPositions(Robot.RobotPositionMap targetPositions) Puts the given positions in the target position map and enables this MotionTargetFrameSource.
void	setEnabled(boolean enabled) If false, this MotionTargetFrameSource will return null when queried for Movements.
void	setRobot(Robot robot) Sets the Robot to
void	setStopOnGoal(boolean val) When StopOnGoal is set true, the MotionTargetFrameSource will disable itself after reaching the target positions.
void	setVelocity(double velocity) Set the max velocity, measured as (change in NormalizedDouble)/millisecond.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PositionTargetFrameSource

public PositionTargetFrameSource(double velocity,
                         Robot.RobotPositionMap targetPositions)

Creates a new MotionTargetFrameSource

Parameters:

context - BundleContext used to retrieve the Robot

robotId - Id of the Robot to move

velocity - maximum allowed velocity. The velocity is measured in terms of (change in NormalizedDouble)/millisecond

targetPositions - initial target positions to move towards. Positions for Joints not belonging to the Robot with the given robotId are ignored

Method Detail

setRobot

public void setRobot(Robot robot)

Description copied from interface: RobotFrameSource

Sets the Robot to

Specified by:

setRobot in interface RobotFrameSource

getRobot

public Robot getRobot()

Specified by:

getRobot in interface RobotFrameSource

setEnabled

public void setEnabled(boolean enabled)

If false, this MotionTargetFrameSource will return null when queried for Movements. A MotionTargetFrameSource is automatically enabled when target positions are changed, and disabled if they are cleared.

Parameters:

enabled -

getEnabled

public boolean getEnabled()

Returns true if enabled

Returns:

true if enabled

setVelocity

public void setVelocity(double velocity)

Set the max velocity, measured as (change in NormalizedDouble)/millisecond. A velocity of 0.0005 moves a joint across its full range in 2 seconds.

Parameters:

velocity - max velocity, measured as (change in NormalizedDouble)/millisecond

getVelocity

public double getVelocity()

Returns the velocity, measured as (change in NormalizedDouble)/millisecond

Returns:

the velocity, measured as (change in NormalizedDouble)/millisecond

setStopOnGoal

public void setStopOnGoal(boolean val)

When StopOnGoal is set true, the MotionTargetFrameSource will disable itself after reaching the target positions. Target positions are assumed to be reached when getMovements is called and all current positions are equal to the target positions. When this happens Enabled is set to false. The MotionTargetFrameSource can be re-enabled by setting Enabled to true.

Parameters:

val - value for StopOnGoal

getStopOnGoalFlag

public boolean getStopOnGoalFlag()

Returns the StopOnGoalFlag.

Returns:

the StopOnGoalFlag

putPositions

public void putPositions(Robot.RobotPositionMap targetPositions)

Puts the given positions in the target position map and enables this MotionTargetFrameSource.

Parameters:

targetPositions - positions to add

putPosition

public void putPosition(Robot.JointId id,
               NormalizedDouble position)

Set the target position for the given JointId and enables this MotionTargetFrameSource.

Parameters:

id - JointId to set

position - new position to set

clearPositions

public void clearPositions()

Clears all target positions and disables this MotionTargetFrameSource.

getMovements

public MotionFrame getMovements(long time,
                       long interval)

Creates a MotionFrame starting at the Robot's goal positions, and moving towards the target positions as much as the velocity will allow in the given time interval.

Specified by:

getMovements in interface FrameSource<Robot.RobotPositionMap>

Parameters:

time - the time of this movement, often the current time

interval - time length of the movement in milliseconds

Returns:

MotionFrame starting at the Robot's goal positions, and moving towards the target positions as much as the velocity will allow in the given time interval

disableAtGoal

protected void disableAtGoal()

isAtGoal

protected boolean isAtGoal()