sk.fiit.jim.agent.moves

Class JointPlacement

java.lang.Object

sk.fiit.jim.agent.moves.JointPlacement

 class JointPlacement
extends Object

JointPlacement.java Holds data about desired joint placements and configuration and updates this state according to executed phases. Class has its own error correction algorithm that smoothly adjusts to missed server communication. Note: Class expects incoming parameters to be in DEG system

Field Summary

Fields

Modifier and Type	Field and Description
(package private) static Map<Joint,Double>	anglesToStriveFor
static String	lastMessage
static double	nextTimePhaseEnds

Constructor Summary

Constructors

Constructor and Description
JointPlacement()

Method Summary

Methods

Modifier and Type	Method and Description
private static double	calculateAngularSpeedFor(Joint joint)
static void	calculateNewTargetState(Phase activePhase) Adjusts target state to newly performed phase
static String	generateMessage() Transforms desired joint angles into a corresponding server message.
private static void	populateAngleTargets() Initial population of the map - each angle starts at 0.0 degrees
String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

anglesToStriveFor

static Map<Joint,Double> anglesToStriveFor

nextTimePhaseEnds

public static double nextTimePhaseEnds

lastMessage

public static String lastMessage

Constructor Detail

JointPlacement

JointPlacement()

Method Detail

populateAngleTargets

private static void populateAngleTargets()

Initial population of the map - each angle starts at 0.0 degrees

calculateNewTargetState

public static void calculateNewTargetState(Phase activePhase)

Adjusts target state to newly performed phase

Parameters:

activePhase - the next phase

generateMessage

public static String generateMessage()

Transforms desired joint angles into a corresponding server message.

Returns:

S-expression formatted message of angular joint movements

calculateAngularSpeedFor

private static double calculateAngularSpeedFor(Joint joint)

toString

public String toString()

Overrides:

toString in class Object