Tools/Actorics/JointDataSequencer.cpp

Go to the documentation of this file.

/** 
* @file JointDataSequencer.cpp
*
* Implementation of JointDataSequencer class.
*
* @author Max Risler
*/

#include "JointDataSequencer.h"

JointDataSequencer::JointDataSequencer()
{
  running = false;
}

JointDataSequencer& JointDataSequencer::operator=(const JointDataSequence& other)
{
  numOfEntries = other.numOfEntries;
  loop = other.loop;
  for (int i = 0; i < numOfEntries; i++)
  {
    entry[i] = other.entry[i];
    interpolate[i] = other.interpolate[i];
    repeats[i] = other.repeats[i];
  }

  running = false;

  return *this;
}

bool JointDataSequencer::isRunning()
{
  return running;
}

void JointDataSequencer::start()
{
  running = (numOfEntries>0);
  sequencePos = 0;
  repetitionCounter = 0;
}

void JointDataSequencer::stop()
{
  running = false;
}

void JointDataSequencer::nextSequenceData(JointData& jointData)
{
  if (!running) return;

  //set next data
  if (interpolate[sequencePos] && sequencePos > 0)
    interpolateJointData(jointData,entry[sequencePos-1],entry[sequencePos],repetitionCounter,repeats[sequencePos]);
  else if (interpolate[sequencePos] && sequencePos == 0 && loop)
  interpolateJointData(jointData,entry[numOfEntries - 1],entry[0],repetitionCounter,repeats[sequencePos]);
  else
    jointData = entry[sequencePos];

  //increase position in sequence
  repetitionCounter++;
  if (repetitionCounter >= repeats[sequencePos])
  {
    //finished repeating current line
    repetitionCounter = 0;
    sequencePos++;
    if (sequencePos >= numOfEntries)
    {
      //finished sequence
      if (loop) 
        //repeat
        sequencePos = 0;
      else
        //finished
        running = false;
    }
  } 
}

void JointDataSequencer::interpolateJointData(
    JointData& jointData,
    const JointData& from, const JointData& to, int step, int len
    )
{
  for (int i = 0; i < JointData::numOfJoint; i++)
    if (from.data[i] == jointDataInvalidValue || to.data[i] == jointDataInvalidValue)
      jointData.data[i] = jointDataInvalidValue;
    else
      jointData.data[i] = 
        from.data[i] + 
        (to.data[i] - from.data[i]) * step / len;
}

---