TrajectoryActor

java.lang.Object
- msim.trajectory.TrajectoryActor

Direct Known Subclasses:

ThresholdDetector, TrajectoryDriver, TrajectoryObserver
```
@ThreadSafe
public abstract class TrajectoryActor
extends java.lang.Object
```
Base class for drivers and observers of Joint sub-transform trajectories.

A trajectory maps time to the values of a set of Joint sub-transforms. Time is derived from a clock, which may provide wall-clock time, simulation time, or another time of the implementation's choosing. The set of joint sub-transforms is mutable (bind(java.lang.Object...)), and is initially empty.

Trajectory actors are not initially active. activate() enables the actor for scheduling in the update thread, and deactivate() disables it. update() will be called as soon as possible whenever needsUpdate() returns true while active.

Thread Safety

Controller.LOCK guards all state. Normally methods are called from the update thread, e.g. by scheduling an update task.

Copyright (C) 2008 Marsette A. Vona, III

Author:

Marsette A. Vona, III

Field Summary

Fields
Modifier and Type	Field and Description
`protected boolean`	`active` whether this actor is currently activated for scheduling
`vona.time.Clock`	`clock` the time base for this TrajectoryActor
`private static java.lang.String`	`cvsid`
`protected Joint[]`	`joint` The Joints containing the transforms which this TrajectoryActor reads/writes, in order.
`int`	`slackID` If non-negative, hold the overall Joint transform when modifying a chain-subtransform in `writeXFormsToModel()` by putting the slack in this chain subtransform.
`protected boolean`	`wasOnlySetChangedGoalComponents` Whether `onlySetChangedGoalComponents()` was true during last `writeXFormsToModel()`.
`protected vona.math.RX[]`	`xform` Sub-transform values read/written by `readXFormsFromModel()`/`writeXFormsToModel()`.
`protected int[]`	`xformID` The sub-transform identifiers which this TrajectoryActor reads/writes, in order.

Constructor Summary

Constructors
Constructor and Description
`TrajectoryActor()` Makes a new trajectory actor using a default `Clock` (wall-clock time).
`TrajectoryActor(vona.time.Clock clock)` Creates a new trajectory actor with the given clock.

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.
`protected void`	`checkBindings()` Check that the `Joint` of each binding is still present.
`boolean`	`clampXForms()` Clamp current `xform` values associated with `Joint` `Joint.RX_MOBILITY`, `Joint.RX_TARGET`, or `Joint.RX_POSTURE` sub-transforms to the current limits for that `Joint`.
`protected boolean`	`compareXFormsToModel()` Compare `xform` values with the bound `Joint` sub-transforms.
`void`	`deactivate()` Disable this TrajectoryActor for scheduling by the model update thread.
`Joint`	`getBoundJoint(int index)` get the `Joint` of the indicated binding
`int`	`getBoundXForm(int index)` get the `Joint` sub-transform ID of the indicated binding
`protected vona.math.RXSInterpolator.InterpolationType`	`getConstrainedInterpolationType()` Hook to get the preferred `RXSInterpolator` interpolation type for constrained transforms.
`protected int`	`getDefaultXForm()` Get the default sub-transform identifier for `bind(java.lang.Object...)`.
`int`	`getNumBindings()` Get the size of the set of transforms which this TrajectoryActor reads/writes.
`protected vona.math.RX`	`getOriginalUnsetGoal(int i)` Get the original goal transform to use for comparison purposes in `writeXFormsToModel()`.
`protected vona.math.RXSInterpolator.InterpolationType`	`getUnconstrainedInterpolationType()` Hook to get the preferred `RXSInterpolator` interpolation type for unconstrained transforms.
`boolean`	`isActive()` Check whether this TrajectoryActor is enabled for scheduling by the update thread.
`void`	`modelStateChanged()` Called by the update thread when this TrajectoryActor is active after the model state changes, and after that state change has been otherwise handled, including one `Solver` iteration.
`void`	`modelStructureChanged()` Called by the update thread when this TrajectoryActor is active after the model structure changes.
`abstract boolean`	`needsUpdate()` Called by the update thread when this TrajectoryActor is active to check whether `update()` needs to be called soon.
`protected boolean`	`onlySetChangedGoalComponents()` Whether to only set changed goal transform components in `writeXFormsToModel()`.
`protected void`	`readXFormsFromModel()` Read `xform` values from the bound `Joint` sub-transforms.
`void`	`unbind()` Clear the set of transforms which this TrajectoryActor reads/writes.
`abstract void`	`update()` Read/write transform state from/to model.
`protected boolean`	`writeXFormsToModel()` Write `xform` values to the bound `Joint` sub-transforms.

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
  - clock
```
public final vona.time.Clock clock
```
    the time base for this TrajectoryActor
  - joint
```
protected Joint[] joint
```
    The Joints containing the transforms which this TrajectoryActor reads/writes, in order.
  - xformID
```
protected int[] xformID
```
    The sub-transform identifiers which this TrajectoryActor reads/writes, in order.
  - xform
```
protected vona.math.RX[] xform
```
    Sub-transform values read/written by readXFormsFromModel()/writeXFormsToModel().
  - active
```
protected boolean active
```
    whether this actor is currently activated for scheduling
  - wasOnlySetChangedGoalComponents
```
protected boolean wasOnlySetChangedGoalComponents
```
    Whether onlySetChangedGoalComponents() was true during last writeXFormsToModel().
  - slackID
```
public volatile int slackID
```
    If non-negative, hold the overall Joint transform when modifying a chain-subtransform in writeXFormsToModel() by putting the slack in this chain subtransform.
    
    Ignored if negative, if not Joint.isChainSubtransform(int), or if equal to the particular xformID of any given binding.
- Constructor Detail
  - TrajectoryActor
```
public TrajectoryActor(vona.time.Clock clock)
```
    Creates a new trajectory actor with the given clock.
  - TrajectoryActor
```
public TrajectoryActor()
```
    Makes a new trajectory actor using a default Clock (wall-clock time).
- Method Detail
  - bind
```
public int bind(java.lang.Object... specs)
```
    Fill the set of transforms which this TrajectoryActor reads/writes, in order.
    
    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 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.
  - getNumBindings
```
public int getNumBindings()
```
    Get the size of the set of transforms which this TrajectoryActor reads/writes.
  - getBoundJoint
```
public Joint getBoundJoint(int index)
```
    get the Joint of the indicated binding
  - getBoundXForm
```
public int getBoundXForm(int index)
```
    get the Joint sub-transform ID of the indicated binding
  - activate
```
public void activate()
```
    Enable this TrajectoryActor for scheduling by the update thread.
    
    Throws:
    
    java.lang.IllegalStateException - if any of the currently bound transforms is not present
  - deactivate
```
public void deactivate()
```
    Disable this TrajectoryActor for scheduling by the model update thread.
  - isActive
```
public boolean isActive()
```
    Check whether this TrajectoryActor is enabled for scheduling by the update thread.
  - modelStateChanged
```
public void modelStateChanged()
```
    Called by the update thread when this TrajectoryActor is active after the model state changes, and after that state change has been otherwise handled, including one Solver iteration.
    
    Default impl does nothing.
  - modelStructureChanged
```
public void modelStructureChanged()
```
    Called by the update thread when this TrajectoryActor is active after the model structure changes.
    
    Default impl calls checkBindings().
    
    Throws:
    
    java.lang.IllegalStateException - if any of the currently bound transforms is not present
  - update
```
public abstract 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.
  - needsUpdate
```
public abstract boolean needsUpdate()
```
    Called by the update thread when this TrajectoryActor is active to check whether update() needs to be called soon.
  - getDefaultXForm
```
protected int getDefaultXForm()
```
    Get the default sub-transform identifier for bind(java.lang.Object...).
    
    Default impl returns Joint.RX_MOBILITY.
  - getUnconstrainedInterpolationType
```
protected vona.math.RXSInterpolator.InterpolationType getUnconstrainedInterpolationType()
```
    Hook to get the preferred RXSInterpolator interpolation type for unconstrained transforms.
    
    Default impl returns RXSInterpolator.InterpolationType.SCREW.
  - getConstrainedInterpolationType
```
protected vona.math.RXSInterpolator.InterpolationType getConstrainedInterpolationType()
```
    Hook to get the preferred RXSInterpolator interpolation type for constrained transforms.
    
    Default impl returns RXSInterpolator.InterpolationType.LINEAR_TXEM.
  - checkBindings
```
protected void checkBindings()
```
    Check that the Joint of each binding is still present.
    
    Throws:
    
    java.lang.IllegalStateException - if any of the currently bound transforms is no longer present
  - readXFormsFromModel
```
protected void readXFormsFromModel()
```
    Read xform values from the bound Joint sub-transforms.
  - writeXFormsToModel
```
protected boolean writeXFormsToModel()
```
    Write xform values to the bound Joint sub-transforms.
    
    Returns:
    true if any changes were made due to clamping
  - onlySetChangedGoalComponents
```
protected boolean onlySetChangedGoalComponents()
```
    Whether to only set changed goal transform components in writeXFormsToModel().
    
    Also see getOriginalUnsetGoal(int).
    
    Default impl returns false.
  - getOriginalUnsetGoal
```
protected vona.math.RX getOriginalUnsetGoal(int i)
```
    Get the original goal transform to use for comparison purposes in writeXFormsToModel().
    
    This is used to implement onlySetChangedGoalComponents().
    
    Return null to use the current value of the goal transform of joint i.
    
    Default impl returns null.
  - clampXForms
```
public boolean clampXForms()
```
    Clamp current xform values associated with Joint Joint.RX_MOBILITY, Joint.RX_TARGET, or Joint.RX_POSTURE sub-transforms to the current limits for that Joint.
    
    Returns:
    true if any changes were made due to clamping
  - compareXFormsToModel
```
protected boolean compareXFormsToModel()
```
    Compare xform values with the bound Joint sub-transforms.
    
    Returns:
    true if all values are epsilon equal, false if at least one differs

Class TrajectoryActor

Thread Safety

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

cvsid

clock

joint

xformID

xform

active

wasOnlySetChangedGoalComponents

slackID

Constructor Detail

TrajectoryActor

TrajectoryActor

Method Detail

bind

unbind

getNumBindings

getBoundJoint

getBoundXForm

activate

deactivate

isActive

modelStateChanged

modelStructureChanged

update

needsUpdate

getDefaultXForm

getUnconstrainedInterpolationType

getConstrainedInterpolationType

checkBindings

readXFormsFromModel

writeXFormsToModel

onlySetChangedGoalComponents

getOriginalUnsetGoal

clampXForms

compareXFormsToModel