brbrain
Class Pose

java.lang.Object
  brbrain.Pose

public class Pose
extends java.lang.Object

Bioloid pose.

A pose contains values for a collection of AXRegisters for a set of dynamixels. The register collection is the same across all dynamixels, and must consist of registers for only one dynamixel type (e.g. AX12Register or AXS1Register). Neither the register collection nor the set of dynamixels are mutable, but the values of the registers are. The recommended synchronization object for value mutation is the Pose object itself.

The collections of registers and axIDs need not be ordered or contiguous; however axIDs does need to be unique.

BRBrain read and write formats will be computed, respectively, as the shortest contiguous span including all registers (read format), and as the longest contiguous span of writable RAM registers included in registers starting from the lowest-address such register in registers (write format). It is also possible to specify arguments to the constructor which override the default write format; in that case the specified write span must be a writeable subset of registers.

Methods readFrom(int[], int)/writeTo(int[], int) are providing for gathering/scattering the pose values from/to an BRBrain read/write block.

Methods readFrom(PoseTokenizer), readFrom(InputStream), and writeTo(PrintWriter) are also provided for parsing and writing the pose to character streams in lisp sexp format with semicolon comments.

Copyright (C) 2007 Marsette A. Vona, III

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

Author:

Marsette (Marty) A. Vona, III

Nested Class Summary

static class

Pose.PoseTokenizer specialized tokenizer for poses, see Pose class header doc

Field Summary

int[]	axIDs the set of axIDs; do not mutate
java.util.Map<java.lang.Integer,java.lang.Integer>	axIDToIndex Unmodifiable inverse mapping of dynamixel id to dynamixel index, see values.
private static java.lang.String	cvsid
static int	PRESERVE_SPEED_POSITION_EPSILON Position difference below which to preserve previous speed in setMovingSpeedFrom(brbrain.Pose, int).
int	readNum the number of regs in the BRBrain read format
AXRegister	readStart the first reg in the BRBrain read format
AXRegister[]	registers the set of registers; do not mutate
java.util.Map<AXRegister,int[]>	values The register values, indexed first by register and second by dynamixel index.
static int	WRITE_FIELD_WIDTH width in characters of register values written to an output stream
int	writeNum the number of regs in the BRBrain write format, or 0 if none
AXRegister	writeStart the first reg in the BRBrain write format, or null if none

Constructor Summary

Pose(int[] axIDs, AXRegister[] registers)
see class header doc; uses default write span

Pose(int[] axIDs, AXRegister[] registers, AXRegister writeStart, int writeNum)
See class header doc.

Pose(int firstAXID, int lastAXID, AXRegister[] registers)
see class header doc; uses default write span

Pose(int firstAXID, int lastAXID, AXRegister[] registers, AXRegister writeStart, int writeNum)
see class header doc

Pose(Pose otherPose)
covers Pose(Pose, boolean), always copies values

Pose(Pose otherPose, boolean copyValues)
make a pose with same format and maybe values as another

Method Summary

int	getMSMorphTimeFrom(Pose otherPose) Compute the expected morph time in milliseconds starting from otherPose.
int	getRegisterValue(int axID, AXRegister register) read a register value safely
static int[]	makeIDs(int firstAXID, int lastAXID) Makes a contiguous array of ids in the range [firstAXID, lastAXID].
void	readFrom(java.io.InputStream is) covers readFrom(PoseTokenizer), conses the tokenizer
void	readFrom(int[] data) covers readFrom(int[], int), starts at 0
void	readFrom(int[] data, int startIndex) Gather values from an BRBrain read block; see class header doc.
void	readFrom(Pose.PoseTokenizer t) Parse values in lisp sexp format.
protected void	readFrom(Pose.PoseTokenizer t, AXRegister r, int[] data) parse one register list
void	readFrom(Pose otherPose) read values from other pose
boolean	sameFormat(Pose otherPose) Check if this Pose is the same as otherPose except, possibly, for the contents of the values.
void	setGoalPositionFromPresent() Set AX12Register.AX12_GOAL_POSITION from AX12Register.AX12_PRESENT_POSITION.
void	setMovingSpeedFrom(Pose otherPose, int msMorphTime) Set the AX12Register.AX12_MOVING_SPEED of this Pose given the desired morph time in milliseconds starting from otherPose.
void	setRegisterValue(AXRegister register, int value) write same register value for all dynamixels safely
void	setRegisterValue(AXRegister register, Pose otherPose) copy register value for all dynamixels safely
void	setRegisterValue(int axID, AXRegister register, int value) write a register value safely
void	writeHeaderTo(java.io.OutputStream s) covers writeHeaderTo(PrintWriter)
void	writeHeaderTo(java.io.PrintWriter w) write a header comment with the dynamixel IDs
void	writeTo(int[] data) covers writeTo(int[], int), starts at 0
void	writeTo(int[] data, int startIndex) Scatter values to an BRBrain write block; see class header doc.
void	writeTo(java.io.OutputStream s) covers writeTo(PrintWriter)
void	writeTo(Pose otherPose) write values to other pose
void	writeTo(java.io.PrintWriter w) write values in the format readFrom(brbrain.Pose) expects
protected void	writeTo(java.io.PrintWriter w, AXRegister r, int[] data) write one register list
protected void	writeTo(java.io.PrintWriter w, int v) write one int left padded with spaces to WRITE_FIELD_WIDTH

Methods inherited from class java.lang.Object

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

Field Detail

cvsid

private static final java.lang.String cvsid

See Also:

Constant Field Values

PRESERVE_SPEED_POSITION_EPSILON

public static final int PRESERVE_SPEED_POSITION_EPSILON

Position difference below which to preserve previous speed in setMovingSpeedFrom(brbrain.Pose, int).

See Also:

Constant Field Values

WRITE_FIELD_WIDTH

public static final int WRITE_FIELD_WIDTH

width in characters of register values written to an output stream

See Also:

Constant Field Values

axIDs

public final int[] axIDs

the set of axIDs; do not mutate

registers

public final AXRegister[] registers

the set of registers; do not mutate

readStart

public final AXRegister readStart

the first reg in the BRBrain read format

writeStart

public final AXRegister writeStart

the first reg in the BRBrain write format, or null if none

readNum

public final int readNum

the number of regs in the BRBrain read format

writeNum

public final int writeNum

the number of regs in the BRBrain write format, or 0 if none

values

public java.util.Map<AXRegister,int[]> values

The register values, indexed first by register and second by dynamixel index.

The map itself is not mutable (TBD), but the contents of the value arrays are. The containing Pose is the recommended synchronization object.

Dynamixel indices are the zero-based index of the dynamixel ID in axIDs, and dynamixel index i is not necessarily the same as axIDs[i]. See axIDToIndex.

axIDToIndex

public java.util.Map<java.lang.Integer,java.lang.Integer> axIDToIndex

Unmodifiable inverse mapping of dynamixel id to dynamixel index, see values.

Constructor Detail

Pose

public Pose(Pose otherPose,
            boolean copyValues)

make a pose with same format and maybe values as another

Pose

public Pose(Pose otherPose)

covers Pose(Pose, boolean), always copies values

Pose

public Pose(int[] axIDs,
            AXRegister[] registers,
            AXRegister writeStart,
            int writeNum)

See class header doc.

Parameters:

writeStart - overrides the default iff non-null

writeNum - overrides the default iff non-negative

Pose

public Pose(int[] axIDs,
            AXRegister[] registers)

see class header doc; uses default write span

Pose

public Pose(int firstAXID,
            int lastAXID,
            AXRegister[] registers,
            AXRegister writeStart,
            int writeNum)

see class header doc

Pose

public Pose(int firstAXID,
            int lastAXID,
            AXRegister[] registers)

see class header doc; uses default write span

Method Detail

makeIDs

public static int[] makeIDs(int firstAXID,
                            int lastAXID)

Makes a contiguous array of ids in the range [firstAXID, lastAXID].

sameFormat

public boolean sameFormat(Pose otherPose)

Check if this Pose is the same as otherPose except, possibly, for the contents of the values.

getRegisterValue

public int getRegisterValue(int axID,
                            AXRegister register)

read a register value safely

setRegisterValue

public void setRegisterValue(int axID,
                             AXRegister register,
                             int value)

write a register value safely

setRegisterValue

public void setRegisterValue(AXRegister register,
                             int value)

write same register value for all dynamixels safely

setRegisterValue

public void setRegisterValue(AXRegister register,
                             Pose otherPose)

copy register value for all dynamixels safely

getMSMorphTimeFrom

public int getMSMorphTimeFrom(Pose otherPose)

Compute the expected morph time in milliseconds starting from otherPose.

This Pose and otherPose must have the same axIDs and must both include AX12Register.AX12_GOAL_POSITION. This Pose must also include AX12Register.AX12_MOVING_SPEED. The morph time is the maximum time it would take any dynamixel to move from the other pose to this pose at the given speed.

setGoalPositionFromPresent

public void setGoalPositionFromPresent()

Set AX12Register.AX12_GOAL_POSITION from AX12Register.AX12_PRESENT_POSITION.

setMovingSpeedFrom

public void setMovingSpeedFrom(Pose otherPose,
                               int msMorphTime)

Set the AX12Register.AX12_MOVING_SPEED of this Pose given the desired morph time in milliseconds starting from otherPose.

Recriprocal to getMSMorphTimeFrom(brbrain.Pose). The AX12Register.AX12_MOVING_SPEED is computed for all dynamixels which change goal position more than PRESERVE_SPEED_POSITION_EPSILON so that they all move for the entire duration of the morph.

readFrom

public void readFrom(Pose otherPose)

read values from other pose

writeTo

public void writeTo(Pose otherPose)

write values to other pose

readFrom

public void readFrom(int[] data,
                     int startIndex)

Gather values from an BRBrain read block; see class header doc.

readFrom

public void readFrom(int[] data)

covers readFrom(int[], int), starts at 0

writeTo

public void writeTo(int[] data,
                    int startIndex)

Scatter values to an BRBrain write block; see class header doc.

writeTo

public void writeTo(int[] data)

covers writeTo(int[], int), starts at 0

readFrom

public void readFrom(Pose.PoseTokenizer t)
              throws java.io.IOException

Parse values in lisp sexp format.

The values are parsed as a list of register lists in the order of registers, with each register list containing the register value for each dynamixel in the order of axIDs.

Lisp semicolon comments are ignored.

Throws:

java.io.IOException

readFrom

public void readFrom(java.io.InputStream is)
              throws java.io.IOException

covers readFrom(PoseTokenizer), conses the tokenizer

Throws:

java.io.IOException

readFrom

protected void readFrom(Pose.PoseTokenizer t,
                        AXRegister r,
                        int[] data)
                 throws java.io.IOException

parse one register list

Throws:

java.io.IOException

writeTo

public void writeTo(java.io.PrintWriter w)
             throws java.io.IOException

write values in the format readFrom(brbrain.Pose) expects

Throws:

java.io.IOException

writeTo

public void writeTo(java.io.OutputStream s)
             throws java.io.IOException

covers writeTo(PrintWriter)

Throws:

java.io.IOException

writeTo

protected void writeTo(java.io.PrintWriter w,
                       AXRegister r,
                       int[] data)
                throws java.io.IOException

write one register list

Throws:

java.io.IOException

writeTo

protected void writeTo(java.io.PrintWriter w,
                       int v)
                throws java.io.IOException

write one int left padded with spaces to WRITE_FIELD_WIDTH

Throws:

java.io.IOException

writeHeaderTo

public void writeHeaderTo(java.io.PrintWriter w)
                   throws java.io.IOException

write a header comment with the dynamixel IDs

Throws:

java.io.IOException

writeHeaderTo

public void writeHeaderTo(java.io.OutputStream s)
                   throws java.io.IOException

covers writeHeaderTo(PrintWriter)

Throws:

java.io.IOException