shady.common.multi
Class MultiEnvironment

java.lang.Object
  shady.common.Environment
      shady.common.multi.MultiEnvironment

All Implemented Interfaces:

java.io.Serializable

public class MultiEnvironment
extends Environment

An Environment for MultiShady.

A MultiEnvironment is a set of MultiSegments.

Copyright (C) 2006 Marsette A. Vona, III

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

Author:

Marsette (Marty) A. Vona, III

See Also:

Serialized Form

Field Summary

static double	CONSISTENCY_CHECK_ORIENTATION_SLOP Orientation tolerance for place consistency check in degrees.
static double	CONSISTENCY_CHECK_TRANSLATION_SLOP Translation tolerance for place consistency check in meters.
private static java.lang.String	cvsid CVS id.
static double	DEFAULT_BASE_WIDTH The width of the grounded base segment in the default environment.
protected boolean	deferPlace Whether place() is currently deferred.
protected boolean	needsPlace Whether place() needs to be called after deferPlace is turned off.

Fields inherited from class shady.common.Environment

boundsDirty, centerX, centerY, DEFAULT_BAR_WIDTH, DEFAULT_COLUMN_WIDTH, DEFAULT_MAX_LOWER_ROW_HEIGHT, DEFAULT_MIN_LOWER_ROW_HEIGHT, DEFAULT_NUM_PANE_COLUMNS, DEFAULT_UPPER_ROW_HEIGHT, height, listeners, lockBounds, maxX, maxY, minX, minY, segments, width

Constructor Summary

MultiEnvironment()
Makes a default environment (see makeDefaultEnvironment()).

MultiEnvironment(MultiSegment[] segment)
Make a new MulitEnvironment.

Method Summary

int	addSegment(double startX, double startY, double endX, double endY) Covers addSegment(double, double, double, double, boolean), always adds a grounded segment.
int	addSegment(double startX, double startY, double endX, double endY, boolean grounded) Add a new segment at the end of the list.
protected boolean	checkPrune(MultiSegment child, MemberShadyCommonAPI member, ShadyPose pose) Check if child needs to be placed.
boolean	isDeferPlace() Check whether place is currently deferred.
protected void	makeDefaultEnvironment() Makes a default environment with a single horizontal grounded base segment of widthDEFAULT_BASE_WIDTH centered at the origin.
void	moveSegment(int index, double startX, double startY, double endX, double endY) Move the Segment at index.
int	place() Try to place all non-grounded segments.
protected boolean	placeChild(MultiSegment child, Point.OnSegment parentPoint, Point.OnSegment childPoint, double parentToChildOrientation, double childOrientation, double l) Place the segment child.
protected int	placeFrom(MultiSegment root, ShadyPose pose) Recursively place unplaced segments in a DFS starting from root.
protected int	placeImpl() Implementation of place().
void	setDeferPlace(boolean deferPlace) Whether to defer all calls to place().

Methods inherited from class shady.common.Environment

addListener, clearSegments, enumerateSegments, fireEnvironmentChanged, getCenterX, getCenterY, getHeight, getMaxX, getMaxY, getMinX, getMinY, getSegment, getWidth, isEmpty, makeDefaultEnvironment, numSegments, pick, pick, pick, recomputeBounds, removeLastSegment, removeListener

Methods inherited from class java.lang.Object

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

Field Detail

cvsid

private static final java.lang.String cvsid

CVS id.

See Also:

Constant Field Values

CONSISTENCY_CHECK_ORIENTATION_SLOP

public static final double CONSISTENCY_CHECK_ORIENTATION_SLOP

Orientation tolerance for place consistency check in degrees.

See Also:

Constant Field Values

CONSISTENCY_CHECK_TRANSLATION_SLOP

public static final double CONSISTENCY_CHECK_TRANSLATION_SLOP

Translation tolerance for place consistency check in meters.

See Also:

Constant Field Values

DEFAULT_BASE_WIDTH

public static final double DEFAULT_BASE_WIDTH

The width of the grounded base segment in the default environment.

See Also:

Constant Field Values

needsPlace

protected boolean needsPlace

Whether place() needs to be called after deferPlace is turned off.

deferPlace

protected boolean deferPlace

Whether place() is currently deferred.

Constructor Detail

MultiEnvironment

public MultiEnvironment()

Makes a default environment (see makeDefaultEnvironment()).

MultiEnvironment

public MultiEnvironment(MultiSegment[] segment)

Make a new MulitEnvironment.

Parameters:

segment - the set of MultiSegments, not null, a copy is made, the connected Shady sets (MultiSegment.members) are not copied

Method Detail

addSegment

public int addSegment(double startX,
                      double startY,
                      double endX,
                      double endY)

Covers addSegment(double, double, double, double, boolean), always adds a grounded segment.

Overrides:

addSegment in class Environment

Parameters:

startX - the start X coord of the segment in meters

startY - the start Y coord of the segment in meters

endX - the end X coord of the segment in meters

endY - the end Y coord of the segment in meters

Returns:

the new number of segments

addSegment

public int addSegment(double startX,
                      double startY,
                      double endX,
                      double endY,
                      boolean grounded)

Add a new segment at the end of the list.

Same as Environment.addSegment(double, double, double, double) but includes groundedspecification.

Parameters:

grounded - whether the new segment is grounded

moveSegment

public void moveSegment(int index,
                        double startX,
                        double startY,
                        double endX,
                        double endY)

Move the Segment at index.

A EnvironmentListener.environmentChanged(shady.common.Environment) event will be fired to all registered listeners.

Extends super impl to place().

Overrides:

moveSegment in class Environment

Parameters:

index - the zero-based index of the segment to move

startX - the new start X coord of the segment in meters

startY - the new start Y coord of the segment in meters

endX - the new end X coord of the segment in meters

endY - the new end Y coord of the segment in meters

setDeferPlace

public void setDeferPlace(boolean deferPlace)

Whether to defer all calls to place().

Has no effect if request is same as current defer state.

If defer is turned off then place() will be called immediately iff it was called at all while defer was on.

Parameters:

deferPlace - whether to defer all calls to place().

isDeferPlace

public boolean isDeferPlace()

Check whether place is currently deferred.

See setDeferPlace(boolean).

Returns:

true iff place is currently deferred

place

public int place()

Try to place all non-grounded segments.

The implementation is currently a depth-first traversal of the connectivity graph starting from all grounded segments. First all non-grounded segments are marked not MultiSegment.placed. Then segments adjacent to placed or grounded segments in the connectivity graph are recursively placed. This continues until no unplaced segments adj placed or grounded segments remain. Note that unplaced segments will still remain iff the connectivity graph contains any connected components with zero grounded segments.

Overconstrained non-grounded segments are placed only by the first path found in the connectivity graph.

Calls to this method should be synchronized wrt modifications to the topology of the connectivity graph and the state of all members. By convention, the MultiShady object is used for this synchronization.

It is not normally necessary to call this method manually. It is called by implementations of MemberShadyCommonAPI after rotations or gripper opens or closes, and by moveSegment(int, double, double, double, double).

It is possible to defer the place algorithm, see setDeferPlace(boolean).

Returns:

the number of segments that remain unplaced (or 0 if place is currently deferred)

placeImpl

protected int placeImpl()

Implementation of place().

Synchronized.

placeFrom

protected int placeFrom(MultiSegment root,
                        ShadyPose pose)

Recursively place unplaced segments in a DFS starting from root.

See place().

Parameters:

root - the starting segment, assumed MultiSegment.grounded or MultiSegment.placed

pose - a ShadyPose to use as scratch

Returns:

the number of segments that were placed

checkPrune

protected boolean checkPrune(MultiSegment child,
                             MemberShadyCommonAPI member,
                             ShadyPose pose)

Check if child needs to be placed.

Parameters:

child - the segment to check

member - the connecting member shady, to be used for consistency check if necessary

pose - the pose of member

Returns:

true iff child does not need to be placed

placeChild

protected boolean placeChild(MultiSegment child,
                             Point.OnSegment parentPoint,
                             Point.OnSegment childPoint,
                             double parentToChildOrientation,
                             double childOrientation,
                             double l)

Place the segment child.

Does not set child.placed.

Parameters:

child - the segment to place

parentPoint - the member attachment point on the parent segment

childPoint - the member attachment point on child

parentToChildOrientation - the absolute orientation of the member in degrees from parentPoint to childPoint

childOrientation - the absolute orientation in degrees of child

l - the center-to-center length of the connecting member in meters

Returns:

whether child was successfully placed

makeDefaultEnvironment

protected void makeDefaultEnvironment()

Makes a default environment with a single horizontal grounded base segment of widthDEFAULT_BASE_WIDTH centered at the origin.