org.myrobotlab.service

Class IntegratedMovement

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.IntegratedMovement

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, IKJointAnglePublisher, QueueReporter

public class IntegratedMovement
extends Service
implements IKJointAnglePublisher

IntegratedMovement - This class provides a 3D based inverse kinematics implementation that allows you to specify the robot arm geometry based on DH Parameters. The work is based on InversedKinematics3D by kwatters with different computation and goal, including collision detection and moveToObject Rotation and Orientation information is not currently supported. (but should be easy to add)

Author:

Christian/Calamity

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	IntegratedMovement.Ai
static class	IntegratedMovement.ObjectPointLocation

Field Summary

Fields

Modifier and Type	Field and Description
GravityCenter	cog
CollisionDectection	collisionItems
static org.slf4j.Logger	log

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
IntegratedMovement(java.lang.String n)

Method Summary

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()

Methods inherited from class org.myrobotlab.framework.Service

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

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.myrobotlab.service.interfaces.IKJointAnglePublisher

getName

Field Detail

log

public static final org.slf4j.Logger log

collisionItems

public transient CollisionDectection collisionItems

cog

public transient GravityCenter cog

Constructor Detail

IntegratedMovement

public IntegratedMovement(java.lang.String n)

Method Detail

getOpenni

public OpenNi getOpenni()

Returns:

the openni

setOpenni

public void setOpenni(OpenNi openni)

Parameters:

openni - the openni to set

getJmeApp

public IntegratedMovementInterface getJmeApp()

Returns:

the jmeApp

currentPosition

public Point currentPosition(java.lang.String arm)

moveTo

public void moveTo(java.lang.String arm,
                   double x,
                   double y,
                   double z)

moveTo

public void moveTo(java.lang.String arm,
                   double x,
                   double y,
                   double z,
                   java.lang.String lastDHLink)

moveTo

public void moveTo(java.lang.String arm,
                   Point point)

moveTo

public void moveTo(java.lang.String arm,
                   Point point,
                   java.lang.String lastDHLink)

createInputMatrix

public 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.

Parameters:

dx - - x axis translation

dy - - y axis translation

dz - - z axis translation

roll - - rotation about z (in degrees)

pitch - - rotation about x (in degrees)

yaw - - rotation about y (in degrees)

Returns:

the matrix

createJointPositionMap

public double[][] createJointPositionMap(java.lang.String arm)

getArm

public DHRobotArm getArm(java.lang.String arm)

addArm

public void addArm(java.lang.String name,
                   DHRobotArm currentArm)

main

public static void main(java.lang.String[] args)
                 throws java.lang.Exception

Throws:

java.lang.Exception

startEngine

public void startEngine(java.lang.String arm)

getEngine

public java.lang.Thread getEngine(java.lang.String arm)

publishJointAngles

public java.util.Map<java.lang.String,java.lang.Double> publishJointAngles(java.util.HashMap<java.lang.String,java.lang.Double> angleMap)

Specified by:

publishJointAngles in interface IKJointAnglePublisher

publishJointPositions

public double[][] publishJointPositions(double[][] jointPositionMap)

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

setDHLink

public void setDHLink(java.lang.String arm,
                      java.lang.String name,
                      double d,
                      double theta,
                      double r,
                      double alpha)

setDHLink

public void setDHLink(java.lang.String arm,
                      ServoControl servo,
                      double d,
                      double theta,
                      double r,
                      double alpha)

setDHLink

public void setDHLink(java.lang.String arm,
                      ServoControl servo,
                      double d,
                      double theta,
                      double r,
                      double alpha,
                      double minAngle,
                      double maxAngle)

setNewDHRobotArm

public void setNewDHRobotArm(java.lang.String name)

addObject

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)

addObject

public java.lang.String addObject(Point origin,
                                  Point end,
                                  java.lang.String name,
                                  double radius)

addObject

public java.lang.String addObject(Point origin,
                                  Point end,
                                  java.lang.String name,
                                  double radius,
                                  boolean render)

addObject

public java.lang.String addObject(java.lang.String name,
                                  double radius,
                                  boolean render)

addObject

public java.lang.String addObject(java.lang.String name,
                                  double radius)

addObject

public java.lang.String addObject(java.util.HashMap<java.lang.Integer[],Map3DPoint> cloudMap)

clearObject

public void clearObject()

removeObject

public void removeObject(java.lang.String name)

objectAddIgnore

public void objectAddIgnore(java.lang.String object1,
                            java.lang.String object2)

objectRemoveIgnore

public void objectRemoveIgnore(java.lang.String object1,
                               java.lang.String object2)

onIKServoEvent

public void onIKServoEvent(Servo.IKData data)

moveTo

public void moveTo(java.lang.String armName,
                   java.lang.String objectName,
                   IntegratedMovement.ObjectPointLocation location,
                   java.lang.String lastDHLink)

moveTo

public void moveTo(java.lang.String armName,
                   java.lang.String objectName,
                   IntegratedMovement.ObjectPointLocation location)

stopMoving

public void stopMoving()

startOpenNI

public OpenNi startOpenNI()
                   throws java.lang.Exception

Throws:

java.lang.Exception

onOpenNiData

public void onOpenNiData(OpenNiData data)
                  throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

processKinectData

public void processKinectData()
                       throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

setKinectName

public void setKinectName(java.lang.String kinectName)

getCollisionObject

public java.util.concurrent.ConcurrentHashMap<java.lang.String,CollisionItem> getCollisionObject()

getEnumLocationValue

public IntegratedMovement.ObjectPointLocation[] getEnumLocationValue()

getArms

public java.util.Collection<IMEngine> getArms()

visualize

public void visualize()
               throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

sendAngles

public void sendAngles(java.lang.String name,
                       double positionValueDeg)

publishAngles

public java.lang.Object[] publishAngles(java.lang.String name,
                                        double positionValueDeg)

holdTarget

public void holdTarget(java.lang.String arm,
                       boolean holdEnabled)

publishPosition

public PositionData publishPosition(PositionData position)

publishPosition

public void publishPosition(java.lang.String armName)

setJmeApp

public void setJmeApp(IntegratedMovementInterface jmeApp)

setMinMaxAngles

public void setMinMaxAngles(java.lang.String partName,
                            double min,
                            double max)

setAi

public void setAi(IntegratedMovement.Ai ai)

setAi

public void setAi(java.lang.String ai)

removeAi

public void removeAi(IntegratedMovement.Ai ai)

setAi

public void setAi(java.lang.String armName,
                  IntegratedMovement.Ai ai)

removeAi

public void removeAi(java.lang.String armName,
                     IntegratedMovement.Ai ai)

getAngleWithObject

public java.lang.Double getAngleWithObject(java.lang.String armName,
                                           java.lang.String objectName)

getAngleWithAxis

public java.lang.Double getAngleWithAxis(java.lang.String objectName,
                                         java.lang.String axis)

setDHLinkType

public void setDHLinkType(java.lang.String name,
                          DHLinkType type)