msim.trajectory

Class ThresholdDetector

java.lang.Object

msim.trajectory.TrajectoryActor

msim.trajectory.ThresholdDetector

@ThreadSafe
public class ThresholdDetector
extends TrajectoryActor

Detects Joint sub-transform threshold crossings.

The current implementation watches the TXEM component at txemIndex of the first bound joint subtransform, and calls crossedThreshold(double, double, int) on any update where lastXform satisfied checkBounds(double) but the new value does not.

Copyright (C) 2008 Marsette A. Vona, III

Author:

Marsette A. Vona, III

Field Summary

Fields

Modifier and Type	Field and Description
private static java.lang.String	cvsid
static java.lang.String	FMT printf number format
protected vona.math.RX[]	lastXform The most recently read (since most recent bind(java.lang.Object...) or activate()) TrajectoryActor.xform, or null if none.
protected double[]	limit bounds for watched TXEM component, NaN if none
static int	LOWER limit categories
protected boolean	printFullPaths controls output of default impl of crossedThreshold(double, double, int)
protected vona.math.RX	tempRX temp space
protected int	txemIndex The index of the watched TXEM component, or -1 to use first DoF index of corresponding bound Joint.
static int	UPPER limit categories

Fields inherited from class msim.trajectory.TrajectoryActor

active, clock, joint, slackID, wasOnlySetChangedGoalComponents, xform, xformID

Constructor Summary

Constructors

Constructor and Description
ThresholdDetector(vona.time.Clock clock, double min, double max, int txemIndex) Makes a new threshold detector.
ThresholdDetector(double min, double max) Makes a new threshold detector using a default Clock (wall-clock time) and first DoF index of first bound Joint.
ThresholdDetector(double min, double max, int txemIndex) Makes a new threshold detector using a default Clock (wall-clock time).

Method Summary

Methods

Modifier and Type	Method and Description
void	activate() Enable this TrajectoryActor for scheduling by the update thread.
int	bind(java.lang.Object... specs) Fill the set of transforms which this TrajectoryActor reads/writes, in order.
int	checkBounds(double value) Check if value is in the interval [limit[LOWER], limit[UPPER]].
protected void	crossedThreshold(double lastValue, double currentValue, int bound) Called when a threshold has been crossed.
void	enablePrintFullPaths(boolean enable) set printFullPaths
boolean	needsUpdate() Called by the update thread when this TrajectoryActor is active to check whether TrajectoryActor.update() needs to be called soon.
void	unbind() Clear the set of transforms which this TrajectoryActor reads/writes.
void	update() Read/write transform state from/to model.

Methods inherited from class msim.trajectory.TrajectoryActor

checkBindings, clampXForms, compareXFormsToModel, deactivate, getBoundJoint, getBoundXForm, getConstrainedInterpolationType, getDefaultXForm, getNumBindings, getOriginalUnsetGoal, getUnconstrainedInterpolationType, isActive, modelStateChanged, modelStructureChanged, onlySetChangedGoalComponents, readXFormsFromModel, writeXFormsToModel

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

LOWER

public static final int LOWER

limit categories

See Also:

Constant Field Values

UPPER

public static final int UPPER

limit categories

See Also:

Constant Field Values

FMT

public static final java.lang.String FMT

printf number format

See Also:

Constant Field Values

lastXform

protected vona.math.RX[] lastXform

The most recently read (since most recent bind(java.lang.Object...) or activate()) TrajectoryActor.xform, or null if none.

txemIndex

protected final int txemIndex

The index of the watched TXEM component, or -1 to use first DoF index of corresponding bound Joint.

limit

protected final double[] limit

bounds for watched TXEM component, NaN if none

printFullPaths

protected boolean printFullPaths

controls output of default impl of crossedThreshold(double, double, int)

tempRX

protected final vona.math.RX tempRX

temp space

Constructor Detail

ThresholdDetector

public ThresholdDetector(vona.time.Clock clock,
                 double min,
                 double max,
                 int txemIndex)

Makes a new threshold detector.

ThresholdDetector

public ThresholdDetector(double min,
                 double max,
                 int txemIndex)

Makes a new threshold detector using a default Clock (wall-clock time).

ThresholdDetector

public ThresholdDetector(double min,
                 double max)

Makes a new threshold detector using a default Clock (wall-clock time) and first DoF index of first bound Joint.

Method Detail

activate

public void activate()

Enable this TrajectoryActor for scheduling by the update thread.

This impl extends superclass impl to unset lastXform.

Overrides:

activate in class TrajectoryActor

bind

public int bind(java.lang.Object... specs)

Fill the set of transforms which this TrajectoryActor reads/writes, in order.

This impl extends superclass impl to un-set lastXform.

Overrides:

bind in class TrajectoryActor

Parameters:

specs - a set of Joint sub-transform specifiers, in order, each of the the form (joint, name, or path, sub-transform ID...). If no sub-transform IDs are given then TrajectoryActor.getDefaultXForm() is implied. If more than one sub-transform ID is given then more than one binding is specified.

Returns:

the number of transforms bound

unbind

public void unbind()

Clear the set of transforms which this TrajectoryActor reads/writes.

This impl extends superclass impl to deallocate lastXform.

Overrides:

unbind in class TrajectoryActor

update

public void update()

Read/write transform state from/to model.

This is called automatically by the update thread whenever this TrajectoryActor is active. See class header doc for details.

This impl does TrajectoryActor.readXFormsFromModel(). Then, if there is at least one bound transform, checks for threshold crossing, and calls crossedThreshold(double, double, int) if so.

Specified by:

update in class TrajectoryActor

checkBounds

public int checkBounds(double value)

Check if value is in the interval [limit[LOWER], limit[UPPER]].

Returns:

negative if in bounds, else the bound that was violated

needsUpdate

public boolean needsUpdate()

Called by the update thread when this TrajectoryActor is active to check whether TrajectoryActor.update() needs to be called soon.

This impl always returns true.

Specified by:

needsUpdate in class TrajectoryActor

enablePrintFullPaths

public void enablePrintFullPaths(boolean enable)

set printFullPaths

crossedThreshold

protected void crossedThreshold(double lastValue,
                    double currentValue,
                    int bound)

Called when a threshold has been crossed.

Default impl prints a message to System.out.