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 positions and poses of a set of Point, Frame, and FixedMeshBody components. Velocity information is attached to each components's velocity property and is specified in world coordinates. For components with orientation (Frame and FixedMeshBody), 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.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, double startTime, double stopTime) Constructs a VelocityInputProbe for a list of Point, Frame, or FixedMeshBody components specified by comps.
VelocityInputProbe(java.lang.String name, java.util.Collection<? extends ModelComponent> comps, java.lang.String filePath) Constructs a VelocityInputProbe for a list of Point, Frame, or FixedMeshBody components specified by comps.
VelocityInputProbe(java.lang.String name, ModelComponent comp, double startTime, double stopTime) Constructs a VelocityInputProbe for a single Point, Frame, or FixedMeshBody, as specified by comp.
VelocityInputProbe(java.lang.String name, ModelComponent comp, java.lang.String filePath) Constructs a VelocityInputProbe for a single Point, Frame, or FixedMeshBody, as specified by comp.

Method Summary

Modifier and Type	Method and Description
static VelocityInputProbe	createInterpolated(java.lang.String name, NumericProbeBase source, double interval) Creates a VelocityInputProbe by differentiating the position data in a source probe.
static VelocityInputProbe	createNumeric(java.lang.String name, NumericProbeBase source, double interval) Creates a VelocityInputProbe by numerically differentiating the position data in a source probe.

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,
                          double startTime,
                          double stopTime)

Constructs a VelocityInputProbe 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

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,
                          double startTime,
                          double stopTime)

Constructs a VelocityInputProbe 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

startTime - start time of the probe

stopTime - stop time of the probe

VelocityInputProbe

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

Constructs a VelocityInputProbe 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

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,
                          java.lang.String filePath)
                   throws java.io.IOException

Constructs a VelocityInputProbe 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

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,
                                               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 the frame-based components Frame or FixedMeshBody. 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

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)

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-based components Frame or FixedMeshBody. 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

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

Returns:

created velocity probe