artisynth.core.probes

Class PositionInputProbe

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.ModelAgentBase

artisynth.core.probes.Probe

artisynth.core.probes.NumericProbeBase

artisynth.core.probes.NumericInputProbe

artisynth.core.probes.PositionInputProbe

All Implemented Interfaces:

Displayable, CopyableComponent, HasState, ModelAgent, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class PositionInputProbe
extends NumericInputProbe

Probe for specifying the positions and poses of a set of Point, Frame, and FixedMeshBody components. Translational position information is attached to either the component's position or targetPosition property, depending on availability and the value of the useTargetProps argument in the probe's constructor. For components with orientation (Frame and FixedMeshBody), the rotation information is likewise attached to the either the components's orientation or targetOrientation property. However, within the probe data, the orientation is represented in a manner specifed by a RotationRep object, using either 3 or 4 numbers. Rotation information is interpolated as curves on SO(3), as originally described by Ken Shoemake in his SIGGRAPH 1985 paper "Animating Rotation with Quaternion Curves".

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.probes.Probe

Probe.ExportProps, Probe.ImportExportFileInfo

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from class artisynth.core.probes.NumericInputProbe

myProps

Fields inherited from class artisynth.core.probes.NumericProbeBase

EXPLICIT_TIME, mySmallDisplay

Fields inherited from class artisynth.core.probes.Probe

useOldSaveMethod, writeStartStopTimeInSeconds

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
PositionInputProbe() No-args constructor needed for scanning.
PositionInputProbe(java.lang.String name, java.util.Collection<? extends ModelComponent> comps, RotationRep rotRep, boolean useTargetProps, double startTime, double stopTime) Constructs a PositionInputProbe for a list of Point, Frame, or FixedMeshBody components specified by comps.
PositionInputProbe(java.lang.String name, java.util.Collection<? extends ModelComponent> comps, RotationRep rotRep, boolean useTargetProps, java.lang.String filePath) Constructs a PositionInputProbe for a list of Point, Frame, or FixedMeshBody components specified by comps.
PositionInputProbe(java.lang.String name, ModelComponent comp, RotationRep rotRep, boolean useTargetProps, double startTime, double stopTime) Constructs a PositionInputProbe for a single Point, Frame, or FixedMeshBody, as specified by comp.
PositionInputProbe(java.lang.String name, ModelComponent comp, RotationRep rotRep, boolean useTargetProps, java.lang.String filePath) Constructs a PositionInputProbe for a single Point, Frame, or FixedMeshBody, as specified by comp.

Method Summary

Modifier and Type	Method and Description
java.util.ArrayList<ModelComponent>	getPositionComponents() Returns a list of the position components associated with this probe, in the order that they appear in the probe's data.
void	setFrameData(ModelComponent frame, double time, RigidTransform3d TFW) Sets position data for a specific frame controlled by this probe.
void	setPointData(Point point, double time, Vector3d pos) Sets position data for a specific point controlled by this probe.
void	transformData(AffineTransform3dBase X) Apply a rigid or affine transform to all the point and rotation data in this list.

Methods inherited from class artisynth.core.probes.NumericInputProbe

addData, addData, addData, addData, addData, addData, apply, clone, copy, createState, getAllPropertyInfo, getCopyReferences, getExtendData, getInput, getState, hasState, isDuplicatable, isEditable, isInput, isSettable, load, loadEmpty, postscan, save, scan, scanItem, set, set, setAttachedFileName, setAttachedFileName, setData, setData, setExtendData, setInputProperties, setState, write, writeItems

Methods inherited from class artisynth.core.probes.NumericProbeBase

addData, applyDefaultDisplayRanges, clearData, decreaseDisplayRanges, dispose, export, getAttachedProperties, getData, getDefaultDisplayMax, getDefaultDisplayMin, getDefaultDisplayRange, getDisplay, getDrivers, getExportFileInfo, getExportProps, getFormat, getInterpolation, getInterpolationOrder, getLegend, getMatlabName, getMinMaxValues, getNumericList, getOrderedTraceIndex, getPlotTraceInfo, getRotationRep, getRotationSubvecOffsets, getTraceColor, getTraceLabel, getTraceManager, getValues, getVariables, getVisibleMinMaxValues, getVisibleRange, getVisibleRange, getVsize, importData, importText, increaseDisplayRanges, isCloneable, isDisplayable, isEmpty, isPrintable, isSmallDisplayVisible, isTraceVisible, isValidVariableName, isWritable, loadFromMatlab, print, read, removeDisplay, removeLegend, resetTraceColors, resetTraceOrder, saveToMatlab, scaleNumericList, setDefaultDisplayRange, setDefaultDisplayRange, setFormat, setInterpolation, setInterpolationOrder, setLegend, setLegendLabels, setScale, setSmallDisplayVisible, setTraceColor, setTraceLabel, setTraceOrder, setTraceVisible, setValues, setValues, smoothWithMovingAverage, smoothWithSavitzkyGolay, swapPlotTraceOrder, updateDisplays, updateDisplays, updateDisplaysForPropertyChanges, updateDisplaysWithoutAutoRanging, writeText

Methods inherited from class artisynth.core.probes.Probe

getAttachedFile, getAttachedFileName, getChildren, getClippedVirtualTime, getDefaultScale, getDefaultStartTime, getDefaultStopTime, getDefaultUpdateInterval, getDuration, getExportFile, getExportFileName, getFileFromPath, getImportFile, getImportFileInfo, getImportFileName, getInitialState, getPathFromFile, getProperty, getScale, getStartTime, getStopTime, getTimelineTime, getTrack, getUpdateInterval, getVirtualTime, hasAttachedFile, hasChildren, isAttachedFileRelative, isEventTime, isScalable, nextEventTime, setExportFileName, setImportFileName, setInterval, setName, setScalable, setStartStopTimes, setStartTime, setStopTime, setTrack, setUpdateInterval

Methods inherited from class artisynth.core.modelbase.ModelAgentBase

finalize, getModel, initialize, isActive, setActive, setModel, setModelFromComponent, write

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isScanning, isSelected, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Constructor Detail

PositionInputProbe

public PositionInputProbe()

No-args constructor needed for scanning.

PositionInputProbe

public PositionInputProbe(java.lang.String name,
                          ModelComponent comp,
                          RotationRep rotRep,
                          boolean useTargetProps,
                          double startTime,
                          double stopTime)

Constructs a PositionInputProbe for a single Point, Frame, or FixedMeshBody, as specified by comp. Data must be added after the constructor is called.

Parameters:

name - if non-null, gives the name of the probe

comp - specifies the Point, Frame, or FixedMeshBody

rotRep - rotation representation. Can be null if comp is a Point.

useTargetProps - if true, causes the probe to bind to the component's targetPosition and targetOrientation properties (if available), instead of position and orientation

startTime - start time of the probe

stopTime - stop time of the probe

PositionInputProbe

public PositionInputProbe(java.lang.String name,
                          java.util.Collection<? extends ModelComponent> comps,
                          RotationRep rotRep,
                          boolean useTargetProps,
                          double startTime,
                          double stopTime)

Constructs a PositionInputProbe for a list of Point, Frame, or FixedMeshBody components specified by comps. Data must be added after the constructor is called.

Parameters:

name - if non-null, gives the name of the probe

comps - specifies the Point, Frame, or FixedMeshBody components

rotRep - rotation representation. Can be null if all of the components are points.

useTargetProps - if true, causes the probe to bind to the component's targetPosition and targetOrientation properties (if available), instead of position and orientation

startTime - start time of the probe

stopTime - stop time of the probe

PositionInputProbe

public PositionInputProbe(java.lang.String name,
                          ModelComponent comp,
                          RotationRep rotRep,
                          boolean useTargetProps,
                          java.lang.String filePath)
                   throws java.io.IOException

Constructs a PositionInputProbe for a single Point, Frame, or FixedMeshBody, as specified by comp. Probe data, plus its interpolation method and start and stop times, are specified in a probe file.

Parameters:

name - if non-null, gives the name of the probe

comp - specifies the Point, Frame, or FixedMeshBody

rotRep - rotation representation. Can be null if comp is a Point.

useTargetProps - if true, causes the probe to bind to the component's targetPosition and targetOrientation properties (if available), instead of position and orientation

filePath - path name of the probe data file

Throws:

java.io.IOException - if a file I/O error occurs

PositionInputProbe

public PositionInputProbe(java.lang.String name,
                          java.util.Collection<? extends ModelComponent> comps,
                          RotationRep rotRep,
                          boolean useTargetProps,
                          java.lang.String filePath)
                   throws java.io.IOException

Constructs a PositionInputProbe for a list of Point, Frame, or FixedMeshBody components specified by comps. Probe data, plus its interpolation method and start and stop times, are specified in a probe file.

Parameters:

name - if non-null, gives the name of the probe

comps - specifies the Point, Frame, or FixedMeshBody components

rotRep - rotation representation. Can be null if all of the components are points.

useTargetProps - if true, causes the probe to bind to the component's targetPosition and targetOrientation properties (if available), instead of position and orientation

filePath - path name of the probe data file

Throws:

java.io.IOException - if a file I/O error occurs

Method Detail

transformData

public void transformData(AffineTransform3dBase X)

Apply a rigid or affine transform to all the point and rotation data in this list.

Parameters:

X - transform to apply

getPositionComponents

public java.util.ArrayList<ModelComponent> getPositionComponents()

Returns a list of the position components associated with this probe, in the order that they appear in the probe's data.

Returns:

list of components associated with this probe

setPointData

public void setPointData(Point point,
                         double time,
                         Vector3d pos)

Sets position data for a specific point controlled by this probe. If no data currently exists at the specified time, a new data knot is created. Otherwise, the existing is overwritten at the location corresponding to the point.

Parameters:

point - point for which the data should be set

time - time at which the data should be set

pos - position data for the point

setFrameData

public void setFrameData(ModelComponent frame,
                         double time,
                         RigidTransform3d TFW)

Sets position data for a specific frame controlled by this probe. If no data currently exists at the specified time, a new data knot is created. Otherwise, the existing is overwritten at the location corresponding to the frame.

Parameters:

frame - frame-based component (either Frame or FixedMeshBody) for which the data should be set.

time - time at which the data should be set

TFW - transform from frame to world, specifying the position, or pose, of the frame. This will be turned into internal data based on the setting of NumericProbeBase.getRotationRep().