Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.limbplanner

Class LimbPlanner

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.limbplanner.LimbPlanner

All Implemented Interfaces:

ActionListener, EventListener

public class LimbPlanner
extends Node
implements ActionListener

LimbPlanner knows about a LimbSolver. It moves the LimbSolver.setTarget(Pose) to a destination. It then waits for the ActionEvent "arrivedAtGoal" before moving on to the next destination.

Constructor Summary

Constructors

Constructor	Description
LimbPlanner()
LimbPlanner(String name)

Method Summary

Modifier and Type	Method	Description
void	actionPerformed(ActionEvent e)
void	addActionListener(ActionListener l)
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	getExecutionTime()
NodePath<Pose>	getNextGoal()
NodePath<Pose>	getPathStart()
double	getPreviousExecutionTime()
NodePath<LimbSolver>	getSolver()
boolean	isRunning()
void	removeActionListener(ActionListener l)
void	setLinearVelocity(double v)
void	setPathStart(Pose pose)	Set the start of the path.
void	setSolver(LimbSolver limbSolver)	Set the solver to use.
void	startRun()
void	stopRun()
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

LimbPlanner

public LimbPlanner()

LimbPlanner

public LimbPlanner(String name)

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.

startRun

public void startRun()

stopRun

public void stopRun()

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.

addActionListener

public void addActionListener(ActionListener l)

removeActionListener

public void removeActionListener(ActionListener l)

actionPerformed

public void actionPerformed(ActionEvent e)

Specified by:

actionPerformed in interface ActionListener

isRunning

public boolean isRunning()

getExecutionTime

public double getExecutionTime()

getPreviousExecutionTime

public double getPreviousExecutionTime()

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.

getPathStart

public NodePath<Pose> getPathStart()

getSolver

public NodePath<LimbSolver> getSolver()

getNextGoal

public NodePath<Pose> getNextGoal()

setSolver

public void setSolver(LimbSolver limbSolver)

Set the solver to use. solver must be in the same node tree as this instance.

Parameters:

limbSolver - the solver to use.

setPathStart

public void setPathStart(Pose pose)

Set the start of the path. pose must be in the same node tree as this instance.

Parameters:

pose - the pose to use.

setLinearVelocity

public void setLinearVelocity(double v)