public class IntegratedMovement extends Service implements IKJointAnglePublisher
Modifier and Type | Class and Description |
---|---|
static class |
IntegratedMovement.Ai |
static class |
IntegratedMovement.ObjectPointLocation |
Modifier and Type | Field and Description |
---|---|
GravityCenter |
cog |
CollisionDectection |
collisionItems |
static org.slf4j.Logger |
log |
cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML
Constructor and Description |
---|
IntegratedMovement(java.lang.String n) |
Modifier and Type | Method and Description |
---|---|
void |
addArm(java.lang.String name,
DHRobotArm currentArm) |
java.lang.String |
addObject(double oX,
double oY,
double oZ,
double eX,
double eY,
double eZ,
java.lang.String name,
double radius,
boolean render) |
java.lang.String |
addObject(java.util.HashMap<java.lang.Integer[],Map3DPoint> cloudMap) |
java.lang.String |
addObject(Point origin,
Point end,
java.lang.String name,
double radius) |
java.lang.String |
addObject(Point origin,
Point end,
java.lang.String name,
double radius,
boolean render) |
java.lang.String |
addObject(java.lang.String name,
double radius) |
java.lang.String |
addObject(java.lang.String name,
double radius,
boolean render) |
void |
clearObject() |
Matrix |
createInputMatrix(double dx,
double dy,
double dz,
double roll,
double pitch,
double yaw)
This create a rotation and translation matrix that will be applied on the
"moveTo" call.
|
double[][] |
createJointPositionMap(java.lang.String arm) |
Point |
currentPosition(java.lang.String arm) |
java.lang.Double |
getAngleWithAxis(java.lang.String objectName,
java.lang.String axis) |
java.lang.Double |
getAngleWithObject(java.lang.String armName,
java.lang.String objectName) |
DHRobotArm |
getArm(java.lang.String arm) |
java.util.Collection<IMEngine> |
getArms() |
java.util.concurrent.ConcurrentHashMap<java.lang.String,CollisionItem> |
getCollisionObject() |
java.lang.Thread |
getEngine(java.lang.String arm) |
IntegratedMovement.ObjectPointLocation[] |
getEnumLocationValue() |
IntegratedMovementInterface |
getJmeApp() |
static ServiceType |
getMetaData()
This static method returns all the details of the class without it having
to be constructed.
|
OpenNi |
getOpenni() |
void |
holdTarget(java.lang.String arm,
boolean holdEnabled) |
static void |
main(java.lang.String[] args) |
void |
moveTo(java.lang.String arm,
double x,
double y,
double z) |
void |
moveTo(java.lang.String arm,
double x,
double y,
double z,
java.lang.String lastDHLink) |
void |
moveTo(java.lang.String arm,
Point point) |
void |
moveTo(java.lang.String arm,
Point point,
java.lang.String lastDHLink) |
void |
moveTo(java.lang.String armName,
java.lang.String objectName,
IntegratedMovement.ObjectPointLocation location) |
void |
moveTo(java.lang.String armName,
java.lang.String objectName,
IntegratedMovement.ObjectPointLocation location,
java.lang.String lastDHLink) |
void |
objectAddIgnore(java.lang.String object1,
java.lang.String object2) |
void |
objectRemoveIgnore(java.lang.String object1,
java.lang.String object2) |
void |
onIKServoEvent(Servo.IKData data) |
void |
onOpenNiData(OpenNiData data) |
void |
processKinectData() |
java.lang.Object[] |
publishAngles(java.lang.String name,
double positionValueDeg) |
java.util.Map<java.lang.String,java.lang.Double> |
publishJointAngles(java.util.HashMap<java.lang.String,java.lang.Double> angleMap) |
double[][] |
publishJointPositions(double[][] jointPositionMap) |
PositionData |
publishPosition(PositionData position) |
void |
publishPosition(java.lang.String armName) |
void |
removeAi(IntegratedMovement.Ai ai) |
void |
removeAi(java.lang.String armName,
IntegratedMovement.Ai ai) |
void |
removeObject(java.lang.String name) |
void |
sendAngles(java.lang.String name,
double positionValueDeg) |
void |
setAi(IntegratedMovement.Ai ai) |
void |
setAi(java.lang.String ai) |
void |
setAi(java.lang.String armName,
IntegratedMovement.Ai ai) |
void |
setDHLink(java.lang.String arm,
ServoControl servo,
double d,
double theta,
double r,
double alpha) |
void |
setDHLink(java.lang.String arm,
ServoControl servo,
double d,
double theta,
double r,
double alpha,
double minAngle,
double maxAngle) |
void |
setDHLink(java.lang.String arm,
java.lang.String name,
double d,
double theta,
double r,
double alpha) |
void |
setDHLinkType(java.lang.String name,
DHLinkType type) |
void |
setJmeApp(IntegratedMovementInterface jmeApp) |
void |
setKinectName(java.lang.String kinectName) |
void |
setMinMaxAngles(java.lang.String partName,
double min,
double max) |
void |
setNewDHRobotArm(java.lang.String name) |
void |
setOpenni(OpenNi openni) |
void |
startEngine(java.lang.String arm) |
OpenNi |
startOpenNI() |
void |
stopMoving() |
void |
visualize() |
addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, startService, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
getName
public static final org.slf4j.Logger log
public transient CollisionDectection collisionItems
public transient GravityCenter cog
public OpenNi getOpenni()
public void setOpenni(OpenNi openni)
openni
- the openni to setpublic IntegratedMovementInterface getJmeApp()
public Point currentPosition(java.lang.String arm)
public void moveTo(java.lang.String arm, double x, double y, double z)
public void moveTo(java.lang.String arm, double x, double y, double z, java.lang.String lastDHLink)
public void moveTo(java.lang.String arm, Point point)
public void moveTo(java.lang.String arm, Point point, java.lang.String lastDHLink)
public Matrix createInputMatrix(double dx, double dy, double dz, double roll, double pitch, double yaw)
dx
- - x axis translationdy
- - y axis translationdz
- - z axis translationroll
- - rotation about z (in degrees)pitch
- - rotation about x (in degrees)yaw
- - rotation about y (in degrees)public double[][] createJointPositionMap(java.lang.String arm)
public DHRobotArm getArm(java.lang.String arm)
public void addArm(java.lang.String name, DHRobotArm currentArm)
public static void main(java.lang.String[] args) throws java.lang.Exception
java.lang.Exception
public void startEngine(java.lang.String arm)
public java.lang.Thread getEngine(java.lang.String arm)
public java.util.Map<java.lang.String,java.lang.Double> publishJointAngles(java.util.HashMap<java.lang.String,java.lang.Double> angleMap)
publishJointAngles
in interface IKJointAnglePublisher
public double[][] publishJointPositions(double[][] jointPositionMap)
public static ServiceType getMetaData()
public void setDHLink(java.lang.String arm, java.lang.String name, double d, double theta, double r, double alpha)
public void setDHLink(java.lang.String arm, ServoControl servo, double d, double theta, double r, double alpha)
public void setDHLink(java.lang.String arm, ServoControl servo, double d, double theta, double r, double alpha, double minAngle, double maxAngle)
public void setNewDHRobotArm(java.lang.String name)
public java.lang.String addObject(double oX, double oY, double oZ, double eX, double eY, double eZ, java.lang.String name, double radius, boolean render)
public java.lang.String addObject(Point origin, Point end, java.lang.String name, double radius)
public java.lang.String addObject(Point origin, Point end, java.lang.String name, double radius, boolean render)
public java.lang.String addObject(java.lang.String name, double radius, boolean render)
public java.lang.String addObject(java.lang.String name, double radius)
public java.lang.String addObject(java.util.HashMap<java.lang.Integer[],Map3DPoint> cloudMap)
public void clearObject()
public void removeObject(java.lang.String name)
public void objectAddIgnore(java.lang.String object1, java.lang.String object2)
public void objectRemoveIgnore(java.lang.String object1, java.lang.String object2)
public void onIKServoEvent(Servo.IKData data)
public void moveTo(java.lang.String armName, java.lang.String objectName, IntegratedMovement.ObjectPointLocation location, java.lang.String lastDHLink)
public void moveTo(java.lang.String armName, java.lang.String objectName, IntegratedMovement.ObjectPointLocation location)
public void stopMoving()
public OpenNi startOpenNI() throws java.lang.Exception
java.lang.Exception
public void onOpenNiData(OpenNiData data) throws java.lang.InterruptedException
java.lang.InterruptedException
public void processKinectData() throws java.lang.InterruptedException
java.lang.InterruptedException
public void setKinectName(java.lang.String kinectName)
public java.util.concurrent.ConcurrentHashMap<java.lang.String,CollisionItem> getCollisionObject()
public IntegratedMovement.ObjectPointLocation[] getEnumLocationValue()
public java.util.Collection<IMEngine> getArms()
public void visualize() throws java.lang.InterruptedException
java.lang.InterruptedException
public void sendAngles(java.lang.String name, double positionValueDeg)
public java.lang.Object[] publishAngles(java.lang.String name, double positionValueDeg)
public void holdTarget(java.lang.String arm, boolean holdEnabled)
public PositionData publishPosition(PositionData position)
public void publishPosition(java.lang.String armName)
public void setJmeApp(IntegratedMovementInterface jmeApp)
public void setMinMaxAngles(java.lang.String partName, double min, double max)
public void setAi(IntegratedMovement.Ai ai)
public void setAi(java.lang.String ai)
public void removeAi(IntegratedMovement.Ai ai)
public void setAi(java.lang.String armName, IntegratedMovement.Ai ai)
public void removeAi(java.lang.String armName, IntegratedMovement.Ai ai)
public java.lang.Double getAngleWithObject(java.lang.String armName, java.lang.String objectName)
public java.lang.Double getAngleWithAxis(java.lang.String objectName, java.lang.String axis)
public void setDHLinkType(java.lang.String name, DHLinkType type)