AgentModel

java.lang.Object
- sk.fiit.jim.agent.models.AgentModel

All Implemented Interfaces:

Serializable, ParsedDataObserver
```
public class AgentModel
extends Object
implements ParsedDataObserver, Serializable
```
AgentModel.java

See Also:
Serialized Form

Field Summary

Fields
Modifier and Type	Field and Description
`private static AgentModel`	`instance`
`private Map<Joint,Double>`	`jointAngles`
`(package private) ParsedData`	`lastDataReceived` Data last received from server.
`protected double`	`lastTimeFlagSeen`
`(package private) Vector3D`	`position` Current position of agent.
`(package private) Vector3D`	`pureBodyAcceleration`
`(package private) double`	`rotationX` Rotation by axis X value.
`(package private) double`	`rotationY` Rotation by axis Y value.
`(package private) double`	`rotationZ` Rotation by axis Z value.
`private static long`	`serialVersionUID`
`static Side`	`side`
`(package private) Vector3D`	`velocity`

Constructor Summary

Constructors
Constructor and Description

AgentModel()

Constructors
Constructor and Description
`AgentModel()`

Method Summary

Methods
Modifier and Type	Method and Description
`private void`	`adjustRotationsFor(Vector3D gyroscope)`
`AgentModel`	`afterAction(Annotation annotation)` Returns changed AgentModel object calculated from current agent model based on specified annotation execution.
`private Vector3D`	`countRotatedXAxis(double angleRotateZ, double angleRotateY)`
`private double`	`getAngleBetweenTwoVectors(Vector3D firstVec, Vector3D secondVec)`
`static AgentModel`	`getInstance()` Static instance of AgentModel to work with it in other classes.
`double`	`getJointAngle(Joint joint)` Returns current angle of specified joint of AgentModel object.
`static double`	`getJointAngleOf(Joint joint)` Returns angle of specified joint of AgentModel static instance.
`ParsedData`	`getLastDataReceived()` Returns last received data from server.
`double`	`getLastTimeFlagSeen()`
`Vector3D`	`getPosition()` Returns agents position.
`double`	`getRotationX()` Returns agents rotation by axis X.
`double`	`getRotationY()` Returns agents rotation by axis Y.
`double`	`getRotationZ()` Returns agents rotation by axis Z.
`Vector3D`	`globalize(Vector3D relative)` Returns globalized position of agent from his relative position.
`boolean`	`isLyingOnBack()` Returns true if agent is lying on back(na chrbte), false otherwise.
`boolean`	`isLyingOnBelly()` Returns true if agent is lying on belly(na bruchu), false otherwise.
`boolean`	`isOnGround()` Returns true if agent is on ground, false otherwise.
`private boolean`	`isOnGroundJudgedByAccelerometer()`
`boolean`	`isStanding()` Returns true if agent is standing, false otherwise.
`boolean`	`isStanding(ParsedData data)` Returns true if agent is standing from specified ParsedData, false otherwise.
`AgentModel`	`partialCopy()` Creates partial copy of AgentModel without some parts of lastDataReceived attribute.
`void`	`processNewServerMessage(ParsedData data)`
`Vector3D`	`relativize(Vector3D global)` Returns relativized position of agent from his global position.
`private Vector3D`	`rotateVectorAroundVector(Vector3D initialVec, Vector3D axisV, double radAngle)`
`private Vector3D`	`rotateVectorAroundZAxis(Vector3D initialVec, double angleV)`
`void`	`setPosition(Vector3D position)`
`void`	`setRotationX(double rotationX)`
`void`	`setRotationY(double rotationY)`
`void`	`setRotationZ(double rotationZ)`
`private void`	`updateJointPositions(ParsedData data)`
`private void`	`updatePosition(ParsedData data)`
`private void`	`updatePureBodyAcceleration(ParsedData data)`
`private void`	`updateRotations(ParsedData data)`
`private Vector3D`	`vectorTimesMatrix(double[][] matrix, Vector3D vector)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

serialVersionUID
```
private static final long serialVersionUID
```
See Also:
Constant Field Values

instance
```
private static AgentModel instance
```

rotationX
```
double rotationX
```
Rotation by axis X value.

rotationY
```
double rotationY
```
Rotation by axis Y value.

rotationZ
```
double rotationZ
```
Rotation by axis Z value.

position
```
Vector3D position
```
Current position of agent.

velocity
```
Vector3D velocity
```

pureBodyAcceleration
```
Vector3D pureBodyAcceleration
```

jointAngles
```
private Map<Joint,Double> jointAngles
```

lastDataReceived
```
transient ParsedData lastDataReceived
```
Data last received from server.

side
```
public static Side side
```

lastTimeFlagSeen
```
protected double lastTimeFlagSeen
```

Constructor Detail
- AgentModel
```
public AgentModel()
```

Method Detail

getInstance
```
public static AgentModel getInstance()
```
Static instance of AgentModel to work with it in other classes.

Returns:

partialCopy
```
public AgentModel partialCopy()
```
Creates partial copy of AgentModel without some parts of lastDataReceived attribute. These were omitted not to fill memory with unimportant data as they are not used now. In the case they have to be used, one must add it here.

Returns:

getJointAngle
```
public double getJointAngle(Joint joint)
```
Returns current angle of specified joint of AgentModel object.

Parameters:
joint -

Returns:

getJointAngleOf
```
public static double getJointAngleOf(Joint joint)
```
Returns angle of specified joint of AgentModel static instance.

Parameters:
joint -

Returns:

globalize
```
public Vector3D globalize(Vector3D relative)
```
Returns globalized position of agent from his relative position.

Parameters:
relative -

Returns:

relativize
```
public Vector3D relativize(Vector3D global)
```
Returns relativized position of agent from his global position.

Parameters:
relative -

Returns:

processNewServerMessage
```
public void processNewServerMessage(ParsedData data)
```
Specified by:

processNewServerMessage in interface ParsedDataObserver

updateJointPositions

private void updateJointPositions(ParsedData data)

rotateVectorAroundVector

private Vector3D rotateVectorAroundVector(Vector3D initialVec,
                                Vector3D axisV,
                                double radAngle)

rotateVectorAroundZAxis

private Vector3D rotateVectorAroundZAxis(Vector3D initialVec,
                               double angleV)

countRotatedXAxis

private Vector3D countRotatedXAxis(double angleRotateZ,
                         double angleRotateY)

vectorTimesMatrix

private Vector3D vectorTimesMatrix(double[][] matrix,
                         Vector3D vector)

getAngleBetweenTwoVectors

private double getAngleBetweenTwoVectors(Vector3D firstVec,
                               Vector3D secondVec)

updatePureBodyAcceleration

private void updatePureBodyAcceleration(ParsedData data)

adjustRotationsFor

private void adjustRotationsFor(Vector3D gyroscope)

updateRotations

private void updateRotations(ParsedData data)

updatePosition

private void updatePosition(ParsedData data)

isStanding
```
public boolean isStanding()
```
Returns true if agent is standing, false otherwise.

Returns:

isStanding
```
public boolean isStanding(ParsedData data)
```
Returns true if agent is standing from specified ParsedData, false otherwise.

Returns:

isOnGround
```
public boolean isOnGround()
```
Returns true if agent is on ground, false otherwise.

Returns:

isOnGroundJudgedByAccelerometer

private boolean isOnGroundJudgedByAccelerometer()

isLyingOnBack
```
public boolean isLyingOnBack()
```
Returns true if agent is lying on back(na chrbte), false otherwise.

Returns:

isLyingOnBelly
```
public boolean isLyingOnBelly()
```
Returns true if agent is lying on belly(na bruchu), false otherwise.

Returns:

getRotationX
```
public double getRotationX()
```
Returns agents rotation by axis X.

Returns:

getRotationY
```
public double getRotationY()
```
Returns agents rotation by axis Y.

Returns:

getRotationZ
```
public double getRotationZ()
```
Returns agents rotation by axis Z.

Returns:

getPosition
```
public Vector3D getPosition()
```
Returns agents position.

Returns:

setPosition

public void setPosition(Vector3D position)

setRotationX

public void setRotationX(double rotationX)

setRotationY

public void setRotationY(double rotationY)

getLastDataReceived
```
public ParsedData getLastDataReceived()
```
Returns last received data from server.

Returns:

setRotationZ

public void setRotationZ(double rotationZ)

getLastTimeFlagSeen
```
public double getLastTimeFlagSeen()
```

afterAction
```
public AgentModel afterAction(Annotation annotation)
```
Returns changed AgentModel object calculated from current agent model based on specified annotation execution. It is part of prediction.

Parameters:
annotation -

Returns:

Class AgentModel

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

serialVersionUID

instance

rotationX

rotationY

rotationZ

position

velocity

pureBodyAcceleration

jointAngles

lastDataReceived

side

lastTimeFlagSeen

Constructor Detail

AgentModel

Method Detail

getInstance

partialCopy

getJointAngle

getJointAngleOf

globalize

relativize

processNewServerMessage

updateJointPositions

rotateVectorAroundVector

rotateVectorAroundZAxis

countRotatedXAxis

vectorTimesMatrix

getAngleBetweenTwoVectors

updatePureBodyAcceleration

adjustRotationsFor

updateRotations

updatePosition

isStanding

isStanding

isOnGround

isOnGroundJudgedByAccelerometer

isLyingOnBack

isLyingOnBelly

getRotationX

getRotationY

getRotationZ

getPosition

setPosition

setRotationX

setRotationY

getLastDataReceived

setRotationZ

getLastTimeFlagSeen

afterAction