@Override public NormalizableRange<Double> getPositionRange() { return new DoubleRange(getMinPosition(), getMaxPosition()); } }
public static NormalizableRange<Double> readNormalizableRange( HierarchicalConfiguration config){ HierarchicalConfiguration rangeConfig = config.configurationAt(NORMALIZABLE_RANGE); double min = rangeConfig.getDouble(RANGE_MIN); double max = rangeConfig.getDouble(RANGE_MAX); NormalizableRange<Double> range = new DoubleRange(min, max); return range; } }
protected void updateConfig(BoneJointConfig bjc, boolean flag_hardResetGoalPosToDefault) { double defPosVal = Utils.bound(bjc.myNormalDefaultPos, 0.0, 1.0); myDefaultPosNorm = new NormalizedDouble(defPosVal); myBoneProjectionRanges = bjc.myProjectionRanges; List<BoneProjectionRange> projRanges = getBoneRotationRanges(); if(projRanges == null || projRanges.isEmpty()){ myNormalizableRange = NormalizableRange.NORMALIZED_RANGE; } else { BoneProjectionRange range = projRanges.get(0); double min = range.getMinPosAngRad(); double max = range.getMaxPosAngRad(); myNormalizableRange = new DoubleRange(min, max); } if (flag_hardResetGoalPosToDefault) { hardResetGoalPosToDefault(); } } private void hardResetGoalPosToDefault() {
@Override public NormalizableRange<Voltage> getNormalizableRange() { return new NormalizableRange<Voltage>() { private DoubleRange myDoubleRange = new DoubleRange(0, 1000); @Override public boolean isValid(Voltage t) { return myDoubleRange.isValid(t.getVolts()); } @Override public NormalizedDouble normalizeValue(Voltage t) { return myDoubleRange.normalizeValue(t.getVolts()); } @Override public Voltage denormalizeValue(NormalizedDouble v) { return new Voltage(myDoubleRange.denormalizeValue(v)); } @Override public Voltage getMin() { return new Voltage(myDoubleRange.getMin()); } @Override public Voltage getMax() { return new Voltage(myDoubleRange.getMax()); } }; } }
@Override public NormalizableRange<Temperature> getNormalizableRange() { return new NormalizableRange<Temperature>() { private DoubleRange myDoubleRange = new DoubleRange(0, 1000); @Override public boolean isValid(Temperature t) { return myDoubleRange.isValid(t.getDegreesCelsius()); } @Override public NormalizedDouble normalizeValue(Temperature t) { return myDoubleRange.normalizeValue(t.getDegreesCelsius()); } @Override public Temperature denormalizeValue(NormalizedDouble v) { return new Temperature(myDoubleRange.denormalizeValue(v)); } @Override public Temperature getMin() { return new Temperature(myDoubleRange.getMin()); } @Override public Temperature getMax() { return new Temperature(myDoubleRange.getMax()); } }; } }
@Override public NormalizableRange<Voltage> getNormalizableRange() { return new NormalizableRange<Voltage>() { private DoubleRange myDoubleRange = new DoubleRange(0, 1000); @Override public boolean isValid(Voltage t) { return myDoubleRange.isValid(t.getVolts()); } @Override public NormalizedDouble normalizeValue(Voltage t) { return myDoubleRange.normalizeValue(t.getVolts()); } @Override public Voltage denormalizeValue(NormalizedDouble v) { return new Voltage(myDoubleRange.denormalizeValue(v)); } @Override public Voltage getMin() { return new Voltage(myDoubleRange.getMin()); } @Override public Voltage getMax() { return new Voltage(myDoubleRange.getMax()); } }; } }
/** * Creates a RemoteJoint with the given values. * @param robot RemoteRobot this RemoteJoint belongs to * @param def JointDefinition for initializing this Joint */ public RemoteJoint(RemoteRobot robot, JointDefinition def){ if(robot == null || def == null){ throw new NullPointerException(); } myRobot = robot; myJointId = def.getJointId(); myRobotJointId = new Robot.JointId(myRobot.getRobotId(), myJointId); myName = def.getName(); myDefaultPosition = def.getDefaultPosition(); myCachedGoalPosition = def.getGoalPosition(); myEnabledFlag = def.getEnabled(); myRange = new DoubleRange(0.0, 1.0); myProperties = new HashMap<String, JointProperty>(); for(JointPropDefinition p : def.getJointProperties()){ JointProperty<Double> prop = new RemoteJointProperty<Double>( p.getPropertyName(), p.getDisplayName(), Double.class, p.getInitialValue(), new DoubleRange(p.getMinValue(), p.getMaxValue())); myProperties.put(p.getPropertyName(), prop); } }