Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.limbsolver

Class LimbSolver

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.limbsolver.LimbSolver

public class LimbSolver
extends Node

LimbSolver calculates Inverse Kinematics for a Limb. Given a target and a linear velocity, LimbSolver will calculate and apply the joint velocities required to move the end effector towards the target in a straight line. When the end effector reaches the target (with a margin of error), LimbSolver will fire an ActionEvent "arrivedAtGoal".

Constructor Summary

Constructors

Constructor	Description
LimbSolver()
LimbSolver(String name)

Method Summary

Modifier and Type	Method	Description
void	addActionListener(ActionListener listener)
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
double	getDistanceToTarget()
double	getGoalMarginOfError()
Icon	getIcon()	Set a custom icon for this node.
boolean	getIsAtGoal()
NodePath<Limb>	getLimb()
double	getLinearVelocity()
NodePath<Pose>	getTarget()
void	moveTargetToEndEffector()
boolean	readyToSolve()
void	removeActionListener(ActionListener listener)
static void	scaleVectorToMagnitude(double[] vector, double maxLen)	Make sure the given vector's length does not exceed linearVelocity.
void	setGoalMarginOfError(double goalMarginOfError)
void	setIsAtGoal(boolean isAtGoal)
void	setLimb(Limb limb)	Set the limb to be controlled by this instance.
void	setLinearVelocity(double linearVelocity)	Set the linear velocity of the end effector in cm/s.
void	setTarget(Pose target)	Set the target to move towards.
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.
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, witnessProtection

Methods inherited from class java.lang.Object

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

Constructor Details

LimbSolver

public LimbSolver()

LimbSolver

public LimbSolver(String name)

Method Details

getTarget

public NodePath<Pose> getTarget()

setTarget

public void setTarget(Pose target)

Set the target to move towards. target must be in the same node tree as this instance.

Parameters:

target - the target to move towards

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.

getLimb

public NodePath<Limb> getLimb()

setLimb

public void setLimb(Limb limb)

Set the limb to be controlled by this instance. limb must be in the same node tree as this instance.

Parameters:

limb - the limb to control

readyToSolve

public boolean readyToSolve()

Returns:

true if the solver has a limb, an end effector, and a target. Does not guarantee that a solution exists.

toJSON

public org.json.JSONObject toJSON()

Description copied from class: Node

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Overrides:

toJSON in class Node

Returns:

the JSON object.

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.

scaleVectorToMagnitude

public static void scaleVectorToMagnitude(double[] vector,
 double maxLen)

Make sure the given vector's length does not exceed linearVelocity. This means as the limb approaches the target the velocity will slow down.

Store the results in the original array.

Parameters:

vector - the vector to cap

maxLen - the max length of the vector.

moveTargetToEndEffector

public void moveTargetToEndEffector()

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.

getLinearVelocity

public double getLinearVelocity()

setLinearVelocity

public void setLinearVelocity(double linearVelocity)

Set the linear velocity of the end effector in cm/s.

Parameters:

linearVelocity - must be >= 0

getDistanceToTarget

public double getDistanceToTarget()

Returns:

the distance to the target that is a combination of linear and angular distances.

getGoalMarginOfError

public double getGoalMarginOfError()

Returns:

the distance to the target that is a combination of linear and angular distances.

setGoalMarginOfError

public void setGoalMarginOfError(double goalMarginOfError)

Parameters:

goalMarginOfError - the distance to the target that is a combination of linear and angular distances.

addActionListener

public void addActionListener(ActionListener listener)

removeActionListener

public void removeActionListener(ActionListener listener)

setIsAtGoal

public void setIsAtGoal(boolean isAtGoal)

getIsAtGoal

public boolean getIsAtGoal()

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.