msim.ui

Class InteractorDriver

java.lang.Object

msim.trajectory.TrajectoryActor

msim.trajectory.TrajectoryDriver

msim.ui.InteractorDriver

@ThreadSafe
public class InteractorDriver
extends TrajectoryDriver

Drives a Joint sub-transform trajectory from an InteractorDriver.JointInteractor.

Copyright (C) 2008 Marsette A. Vona, III

Author:

Marsette A. Vona, III

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected class	InteractorDriver.JointInteractor Special RXSInteractor for manipulating Joint sub-transforms.

Field Summary

Fields

Modifier and Type	Field and Description
private static java.lang.String	cvsid
static double	DEF_MIN_UPDATE_TIME default value for getMinUpdateTime() in TrajectoryActor.clock time
protected boolean	driveFullGoal whether to not onlySetChangedGoalComponents()
InteractorDriver.JointInteractor	jointInteractor the interactor
vona.math.RXSInterpolator	jointInterpolator the interpolator
protected vona.math.RX	manipulationToGroundRX An arbitrary rigid transform taking RXSInteractor manipulation frame coordinates to Linkage ground frame.
protected vona.math.RX	restoreRX the original Joint sub-transform state at activate()
protected vona.math.RX	subFrameCMT Temp storage for transform taking the parent frame of the manipulated Joint sub-transform to world frame.

Fields inherited from class msim.trajectory.TrajectoryDriver

lastUpdateTime

Fields inherited from class msim.trajectory.TrajectoryActor

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

Constructor Summary

Constructors

Constructor and Description
InteractorDriver() Makes a new interactor driver using a default Clock (wall-clock time).
InteractorDriver(vona.time.Clock clock) makes a new interactor driver

Method Summary

Methods

Modifier and Type	Method and Description
void	activate() extends superclass impl to updateInteractor() and enable it
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.
protected boolean	compareXFormsInNeedsUpdate() Whether to TrajectoryActor.compareXFormsToModel() in TrajectoryDriver.needsUpdate().
void	deactivate() extends superclass impl to disable jointInteractor
boolean	getDriveFullGoal() get driveFullGoal
vona.ui.RXSInteractor	getInteractor() get jointInteractor
vona.math.RXSInterpolator	getInterpolator() get jointInterpolator
double	getMinUpdateTime() Get the minimum time in TrajectoryActor.clock time between calls to TrajectoryDriver.needsUpdate() which return true.
protected vona.math.RX	getOriginalUnsetGoal(int i) Get the original goal transform to use for comparison purposes in TrajectoryActor.writeXFormsToModel().
void	modelStructureChanged() Called by the update thread when this TrajectoryActor is active after the model structure changes.
protected boolean	onlySetChangedGoalComponents() Whether to only set changed goal transform components in TrajectoryActor.writeXFormsToModel().
boolean	restore() restore(boolean) without jumping
boolean	restore(boolean jump) Restore the Joint sub-transform to its original state at activate().
void	setDriveFullGoal(boolean driveFullGoal) set driveFullGoal
void	setManipulationToGround(vona.math.RX rx, boolean invert) Set the manipulationToGroundRX transform by copy.
void	unbind() extends superclass impl to updateInteractor() after unbinding
protected void	updateInteractor() InteractorDriver.JointInteractor.bind(msim.model.Joint, int) or InteractorDriver.JointInteractor.unbind() jointInteractor, as appropriate.
void	updateManipulationFrameRX() Update jointInteractor's "manipulation"-to-"world" transform.
protected void	updateXForms() Update the TrajectoryActor.xform values from their driving source.

Methods inherited from class msim.trajectory.TrajectoryDriver

needsUpdate, update, updateXFormsInNeedsUpdate

Methods inherited from class msim.trajectory.TrajectoryActor

clampXForms, compareXFormsToModel, getBoundJoint, getBoundXForm, getConstrainedInterpolationType, getDefaultXForm, getNumBindings, getUnconstrainedInterpolationType, isActive, modelStateChanged, 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

DEF_MIN_UPDATE_TIME

public static final double DEF_MIN_UPDATE_TIME

default value for getMinUpdateTime() in TrajectoryActor.clock time

See Also:

Constant Field Values

jointInteractor

public final InteractorDriver.JointInteractor jointInteractor

the interactor

jointInterpolator

public final vona.math.RXSInterpolator jointInterpolator

the interpolator

driveFullGoal

protected boolean driveFullGoal

whether to not onlySetChangedGoalComponents()

restoreRX

protected final vona.math.RX restoreRX

the original Joint sub-transform state at activate()

manipulationToGroundRX

protected final vona.math.RX manipulationToGroundRX

An arbitrary rigid transform taking RXSInteractor manipulation frame coordinates to Linkage ground frame.

This is one component of the manipulation frame to RXSInteractor world frame transform, see updateManipulationFrameRX() for details.

Display uses an InteractorDriver to implement joint manipulation, and tracks manipulationToGroundRX to the rigid part of the navigation view-to-world transform. It also tracks the RXSInteractor world-to-canvas scale to the product of the Display world-to-view and view-to-canvas scales.

subFrameCMT

protected final vona.math.RX subFrameCMT

Temp storage for transform taking the parent frame of the manipulated Joint sub-transform to world frame.

Used in updateManipulationFrameRX().

Constructor Detail

InteractorDriver

public InteractorDriver(vona.time.Clock clock)

makes a new interactor driver

InteractorDriver

public InteractorDriver()

Makes a new interactor driver 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.

This impl extends the superclass impl to ensure that at most one transform is bound.

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()

extends superclass impl to updateInteractor() after unbinding

Overrides:

unbind in class TrajectoryActor

activate

public void activate()

extends superclass impl to updateInteractor() and enable it

Overrides:

activate in class TrajectoryDriver

deactivate

public void deactivate()

extends superclass impl to disable jointInteractor

Overrides:

deactivate in class TrajectoryDriver

modelStructureChanged

public void modelStructureChanged()

Called by the update thread when this TrajectoryActor is active after the model structure changes.

Default impl calls TrajectoryActor.checkBindings().

This impl chains to the superclass impl and then does updateInteractor().

Overrides:

modelStructureChanged in class TrajectoryActor

restore

public boolean restore(boolean jump)

Restore the Joint sub-transform to its original state at activate().

Returns:

true iff the current state was different than the original

restore

public boolean restore()

restore(boolean) without jumping

checkBindings

protected void checkBindings()

Check that the Joint of each binding is still present.

Extends superclass impl with additional checks.

Overrides:

checkBindings in class TrajectoryActor

Throws:

java.lang.IllegalStateException - if manipulating mobility and either goal becomes set

java.lang.IllegalStateException - if manipulating mobility and joint becomes a closure

java.lang.IllegalStateException - if manipulating posture and target becomes set

updateXForms

protected void updateXForms()

Update the TrajectoryActor.xform values from their driving source.

This impl reads the current transform from jointInteractor.

Specified by:

updateXForms in class TrajectoryDriver

compareXFormsInNeedsUpdate

protected boolean compareXFormsInNeedsUpdate()

Whether to TrajectoryActor.compareXFormsToModel() in TrajectoryDriver.needsUpdate().

Default impl returns true.

This impl returns false.

Overrides:

compareXFormsInNeedsUpdate in class TrajectoryDriver

updateInteractor

protected void updateInteractor()

InteractorDriver.JointInteractor.bind(msim.model.Joint, int) or InteractorDriver.JointInteractor.unbind() jointInteractor, as appropriate.

We also re-read TrajectoryActor.xform (and restoreRX if the joint or transform id changed) from the bound sub-transform, and we jump the interactor to this initial state.

getMinUpdateTime

public double getMinUpdateTime()

Get the minimum time in TrajectoryActor.clock time between calls to TrajectoryDriver.needsUpdate() which return true.

Default impl returns 0.

This impl returns DEF_MIN_UPDATE_TIME.

Overrides:

getMinUpdateTime in class TrajectoryDriver

getInteractor

public vona.ui.RXSInteractor getInteractor()

get jointInteractor

getInterpolator

public vona.math.RXSInterpolator getInterpolator()

get jointInterpolator

setManipulationToGround

public void setManipulationToGround(vona.math.RX rx,
                           boolean invert)

Set the manipulationToGroundRX transform by copy.

Parameters:

invert - whether to invert manipulationToGroundRX after setting it

updateManipulationFrameRX

public void updateManipulationFrameRX()

Update jointInteractor's "manipulation"-to-"world" transform.

The interactor's manipulation frame is actually the Display view frame, and the interactor's "world" frame is the parent frame of the manipulated transform, which will in general be a sub-frame of the manipulated joint. The full transform chain in order is

1. the view-to-ground transform, as set to manipulationToGroundRX by Display
2. the inverse of the bound joint's CMT
3. the inverse of the sub-frame transform for the manipulated sub-transform (see Joint.getSubFrameRX(int, RX))

This is called automatically for all active InteractorDrivers whose interactor is currently controlling in manipulation frame by the update thread.

setDriveFullGoal

public void setDriveFullGoal(boolean driveFullGoal)

set driveFullGoal

getDriveFullGoal

public boolean getDriveFullGoal()

get driveFullGoal

onlySetChangedGoalComponents

protected boolean onlySetChangedGoalComponents()

Whether to only set changed goal transform components in TrajectoryActor.writeXFormsToModel().

Also see TrajectoryActor.getOriginalUnsetGoal(int).

Default impl returns false.

This impl returns the opposite of driveFullGoal.

Overrides:

onlySetChangedGoalComponents in class TrajectoryActor

getOriginalUnsetGoal

protected vona.math.RX getOriginalUnsetGoal(int i)

Get the original goal transform to use for comparison purposes in TrajectoryActor.writeXFormsToModel().

This is used to implement TrajectoryActor.onlySetChangedGoalComponents().

Return null to use the current value of the goal transform of TrajectoryActor.joint i.

Default impl returns null.

This impl returns restoreRX.

Overrides:

getOriginalUnsetGoal in class TrajectoryActor