artisynth.core.probes

Class VelocityInputProbe

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.VelocityInputProbe

All Implemented Interfaces:

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

public class VelocityInputProbe
extends NumericInputProbe

Probe for specifying the velocities of a set of Point or Frame components. Velocity information is specified in world coordinates and is attached to either the component's velocity or targetVelocity property, depending on availability and the setting of the constructor's useTargetProps argument. For components with orientation (i.e., Frame), the velocity will be a 6-vector (Twist) giving both translational and angular velocity.

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

Method Summary

Modifier and Type	Method and Description
static VelocityInputProbe	createInterpolated(java.lang.String name, NumericProbeBase source, boolean useTargetProps, double interval) Creates a VelocityInputProbe by differentiating the position data in a source probe.
static VelocityInputProbe	createInterpolated(java.lang.String name, NumericProbeBase source, double interval) Deprecated. Use createInterpolated(String,NumericProbeBase,boolean,double) instead. This method calls that method with useTargetProps set to false,
static VelocityInputProbe	createNumeric(java.lang.String name, NumericProbeBase source, boolean useTargetProps, double interval) Creates a VelocityInputProbe by numerically differentiating the position data in a source probe.
static VelocityInputProbe	createNumeric(java.lang.String name, NumericProbeBase source, double interval) Deprecated. Use createNumeric(String,NumericProbeBase,boolean,double) instead. This method calls that method with useTargetProps set to false,
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	transformData(AffineTransform3dBase X) Apply a rigid or affine transform to all the vector 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

VelocityInputProbe

public VelocityInputProbe()

No-args constructor needed for scanning.

VelocityInputProbe

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

Constructs a VelocityInputProbe for a single Point or Frame 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 or Frame

useTargetProps - if true, causes the probe to bind to the component's targetVelocity property instead of velocity

startTime - start time of the probe

stopTime - stop time of the probe

VelocityInputProbe

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

Constructs a VelocityInputProbe for a list of Point or Frame 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 or Frame components

useTargetProps - if true, causes the probe to bind to the component's targetVelocity property instead of velocity

startTime - start time of the probe

stopTime - stop time of the probe

VelocityInputProbe

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

Constructs a VelocityInputProbe for a single Point or Frame, 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 or Frame

useTargetProps - if true, causes the probe to bind to the component's targetVelocity property instead of velocity

filePath - path name of the probe data file

Throws:

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

VelocityInputProbe

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

Constructs a VelocityInputProbe for a list of Point or Frame 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 or Frame components

useTargetProps - if true, causes the probe to bind to the component's targetVelocity property instead of velocity

filePath - path name of the probe data file

Throws:

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

Method Detail

createNumeric

public static VelocityInputProbe createNumeric(java.lang.String name,
                                               NumericProbeBase source,
                                               boolean useTargetProps,
                                               double interval)

Creates a VelocityInputProbe by numerically differentiating the position data in a source probe. The source probe must be either a PositionInputProbe, PositionOutputProbe, or a probe with an equivalent property/component composition. The differentation is done by estimating the (linear) derivative at the mid point between each knot, and then interpolating these values between the mid points.

To have a property/component composition equivalent to a PositionOutputProbe or PositionOutputProbe, the source probe must reference the position properties of Point components, or the position and orientation properties of Frame components. For frame-based components, the orientation property must be associated with rotational subvectors.

Parameters:

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

source - PositionInputProbe or PositionOutputProbe containing the position data to differentiate

useTargetProps - if true, causes the probe to bind to the component's targetVelocity property instead of

interval - knot time spacing interval, or -1 if knot times should be determined from the source probe

Returns:

created velocity probe

createNumeric

public static VelocityInputProbe createNumeric(java.lang.String name,
                                               NumericProbeBase source,
                                               double interval)

Deprecated. Use createNumeric(String,NumericProbeBase,boolean,double) instead. This method calls that method with useTargetProps set to false,

createInterpolated

public static VelocityInputProbe createInterpolated(java.lang.String name,
                                                    NumericProbeBase source,
                                                    boolean useTargetProps,
                                                    double interval)

Creates a VelocityInputProbe by differentiating the position data in a source probe. The source probe must be either a PositionInputProbe, PositionOutputProbe, or a probe with an equivalent property/component composition. The differentiation is performed on the function defined by the source probe's interpolation method, as returned by by NumericProbeBase.getInterpolation().

To have a property/component composition equivalent equivalent to a PositionOutputProbe or PositionOutputProbe, the source probe must reference the position properties of Point components, or the position and orientation properties of the Frame components. For frame-based components, the orientation property must be associated with rotational subvectors.

Parameters:

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

source - PositionInputProbe or PositionOutputProbe containing the position data to differentiate

useTargetProps - if true, causes the probe to bind to the component's targetVelocity property instead of

interval - knot time spacing interval, or -1 if knot times should be determined from the source probe

Returns:

created velocity probe

createInterpolated

public static VelocityInputProbe createInterpolated(java.lang.String name,
                                                    NumericProbeBase source,
                                                    double interval)

Deprecated. Use createInterpolated(String,NumericProbeBase,boolean,double) instead. This method calls that method with useTargetProps set to false,

transformData

public void transformData(AffineTransform3dBase X)

Apply a rigid or affine transform to all the vector 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