Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.crab

Class Crab

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.crab.Crab

public class Crab
extends Node

Crab controller demo.

Leg index

 0 - center left
 1 - front right
 2 - front left
 3 - center right
 4 - back left
 5 - back right

 Forward
  2   1
  3 x 0 Right
  4   5

Pose format

pose is a compact array of 18 doubles. the format is coxa/femur/tibia for each leg. the sequence follows the leg index.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	CENTER_X
static final double	COXA
static final double	COXA_OFFSET
static final double	COXA_X
static final double	COXA_Y
static final double	DEFAULT_STANDING_HEIGHT
static final double	FEMUR
static final double	FEMUR_OFFSET
static final String[]	legNames
static final javax.vecmath.Vector3d[]	legOffsets
static final int	NUM_LEGS
static final double	SITTING_HEIGHT
static final double	STANDING_EPSILON
static final double	TIBIA
static final double	TOE_STEP_HEIGHT

Constructor Summary

Constructors

Constructor	Description
Crab()

Method Summary

Modifier and Type	Method	Description
void	forward(double speed)
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
Pose	getBody()
CrabWalkStategy	getChosenStrategy()
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
Icon	getIcon()	Set a custom icon for this node.
double[]	getPose()	Get all 18 joint angles that we care about.
void	idle()
boolean	nodeIsPartOfMe(Node target)
void	raiseTorso(double amount)
void	setChosenStrategy(CrabWalkStategy chosenStrategy)
void	setPose(double[] list)	Set the 18 joint angles that we care about.
void	solveKinematicsForOneLeg(CrabLeg leg, javax.vecmath.Point3d newPosition)	If the kinematics are unsolvable the angles will be NaN and the leg bones will disappear.
void	strafeRight(double speed)
void	turnLeft(double speed)
void	update(double dt)	Called every frame.

Methods inherited from class com.marginallyclever.ro3.node.Node

addAttachListener, addChild, addChild, addDetachListener, addReadyListener, addRenameListener, findByPath, findChild, findChild, findFirstChild, findFirstSibling, findNodeByID, findParent, findParent, getAbsolutePath, getChildren, getName, getParent, getRootNode, getUniqueID, hasParent, isNameUsedBySibling, removeAttachListener, removeChild, removeDetachListener, removeReadyListener, removeRenameListener, setName, toJSON, witnessProtection

Methods inherited from class java.lang.Object

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

Field Details

NUM_LEGS

public static final int NUM_LEGS

See Also:

• Constant Field Values

COXA

public static final double COXA

See Also:

• Constant Field Values

FEMUR

public static final double FEMUR

See Also:

• Constant Field Values

TIBIA

public static final double TIBIA

See Also:

• Constant Field Values

CENTER_X

public static final double CENTER_X

See Also:

• Constant Field Values

COXA_X

public static final double COXA_X

See Also:

• Constant Field Values

COXA_Y

public static final double COXA_Y

See Also:

• Constant Field Values

COXA_OFFSET

public static final double COXA_OFFSET

See Also:

• Constant Field Values

FEMUR_OFFSET

public static final double FEMUR_OFFSET

See Also:

• Constant Field Values

SITTING_HEIGHT

public static final double SITTING_HEIGHT

See Also:

• Constant Field Values

DEFAULT_STANDING_HEIGHT

public static final double DEFAULT_STANDING_HEIGHT

See Also:

• Constant Field Values

STANDING_EPSILON

public static final double STANDING_EPSILON

See Also:

• Constant Field Values

TOE_STEP_HEIGHT

public static final double TOE_STEP_HEIGHT

See Also:

• Constant Field Values

legOffsets

public static final javax.vecmath.Vector3d[] legOffsets

legNames

public static final String[] legNames

Constructor Details

Crab

public Crab()

Method Details

getComponents

public void getComponents(List<JPanel> list)

Description copied from class: Node

Build a Swing Component that represents this Node.

Overrides:

getComponents in class Node

Parameters:

list - the list to add components to.

getIcon

public Icon getIcon()

Description copied from class: Node

Set a custom icon for this node.

Overrides:

getIcon in class Node

Returns:

the icon, or null if none.

update

public void update(double dt)

Description copied from class: Node

Called every frame.

Overrides:

update in class Node

Parameters:

dt - the time since the last frame.

nodeIsPartOfMe

public boolean nodeIsPartOfMe(Node target)

getPose

public double[] getPose()

Get all 18 joint angles that we care about.

Returns:

see the post description in the class header.

setPose

public void setPose(double[] list)

Set the 18 joint angles that we care about.

Parameters:

list - see the post description in the class header.

solveKinematicsForOneLeg

public void solveKinematicsForOneLeg(CrabLeg leg,
 javax.vecmath.Point3d newPosition)

If the kinematics are unsolvable the angles will be NaN and the leg bones will disappear.

Parameters:

leg - the leg to move

newPosition - the desired world position of the toe tip.

setChosenStrategy

public void setChosenStrategy(CrabWalkStategy chosenStrategy)

getChosenStrategy

public CrabWalkStategy getChosenStrategy()

turnLeft

public void turnLeft(double speed)

forward

public void forward(double speed)

strafeRight

public void strafeRight(double speed)

raiseTorso

public void raiseTorso(double amount)

idle

public void idle()

fromJSON

public void fromJSON(org.json.JSONObject from)

Description copied from class: Node

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Overrides:

fromJSON in class Node

Parameters:

from - the JSON object to read from.

getBody

public Pose getBody()