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Class primitives.machines.NarmsMachine

java.lang.Object
   |
   +----primitives.machines.Machine
           |
           +----primitives.machines.NarmsMachine

public class NarmsMachine

extends Machine

arms

Number of arms of the machine.

center

The integral representation of the central joint.

dCenter

The central joint.

in

origin

The location of equal distances from all anchors.

tempCenter

A backup for the central joint.

NarmsMachine(Dimension, int, double)

armStreched(int)

finalize()

Sets object fields to null.

findConstraintAngles()

findConstraints()

Return a Polyogn objects which locations are the locations of the central joint in which 2 adjacent arms are streched out.

findConstraintsEx()

Returns the locations of the central joint in which adjacent arms are streched.

getCurrentAngle()

getJoint(int)

Returns the integral location of an indexed joint.

getJointEx(int)

Returns the location of an indexed joint.

getMaxDistance(double)

getMaxPoint(double)

Returns the extremum location of the central joint from the origin in direction specified by the angle.

getRatioDistance(double)

moveCenter(double, double)

Conditionaly moves the machine by setting a new location for the central joint.

moveCenterEx(double, double)

moves the machine by setting a new location for the central joint The method will always change the position of the machine.

moveJointsA()

calculates the location of the periferial joints by the current location of the central joint.

moveJointsEx()

calculates the locations of the periferial joint has the same effect as moveJointsA.

moveToMaxCoordinate(Coordinate)

Moves the central joint to an extermum location in the direction of a given location.

redraw(Graphics)

Draws this machine.

restorePoints()

rotateCenter(int, double)

conditionaly rotates the central joint.

rotateCenterA(int, double)

rotates the central joint with respect to the i,i>th joint.

rotateCenterEx(int, double)

rotates the central joint with respect to the i,i>th joint.

savePoints()

strechArm(int)

strech the given arm

switchBend(int)

Switch the bending of a given periferial joint with respect to the central joint and its anchor.

 protected Coordinate dCenter

The central joint.

 public ExtPoint center

The integral representation of the central joint.

 public Coordinate tempCenter

A backup for the central joint.

 public int arms

Number of arms of the machine.

 public Coordinate origin

The location of equal distances from all anchors.

 private Coordinate in

 public NarmsMachine(Dimension d,
                     int arms,
                     double ratio)

Parameters:

the - size of the rectangle the machine should be drawn in.

arms - number of arms of the machine.

ration - the ratio between the distance between the anchors and the origin and the length of the bars. should me greater then 1.

 public double getCurrentAngle()

 public double getRatioDistance(double angle)

Returns:

the ratio between the distance between the origin and the location of the current location of the central joint and the maximum distance between these locations. param angle the angle with which to calculate the ratio.

See Also:

getMaxDistance

 public double getMaxDistance(double angle)

Parameters:

angle - the angle to calculate for which to calculate the distance.

Returns:

the maximum possible distance between the origin and the location of the central joint for a given angle.

 public Coordinate getMaxPoint(double angle)

Returns the extremum location of the central joint from the origin in direction specified by the angle. An approximation algorithm is used.

Parameters:

angle - the angle to use.

Returns:

the extremum location

 public int moveToMaxCoordinate(Coordinate newP)

Moves the central joint to an extermum location in the direction of a given location.

Parameters:

newP - the given location.

Returns:

0

 public Polygon findConstraints()

Return a Polyogn objects which locations are the locations of the central joint in which 2 adjacent arms are streched out.

 public Coordinate[] findConstraintsEx()

Returns the locations of the central joint in which adjacent arms are streched.

Returns:

an array of the locations.

See Also:

findConstraints

 public Coordinate[] findConstraintAngles()

See Also:

findConstraintsEx

 public void redraw(Graphics g)

Draws this machine.

Parameters:

g - the graphic context to draw on.

Overrides:

redraw in class Machine

 protected void savePoints()

Overrides:

savePoints in class Machine

See Also:

savePoints

 protected void restorePoints()

Overrides:

restorePoints in class Machine

See Also:

restorePoints

 private int[] moveJointsA()

calculates the location of the periferial joints by the current location of the central joint.

Returns:

an array of integers if arm i is streched the i location in the array is 1 else is 0.

 public Point getJoint(int i)

Returns the integral location of an indexed joint.

Parameters:

i - the index of the joint to return

Returns:

the integral representation of the joint

 public Coordinate getJointEx(int i)

Returns the location of an indexed joint.

Parameters:

i - the index of the joint to return

Returns:

the location of the joint.

 public int[] rotateCenterA(int i,
                            double dalpha)

rotates the central joint with respect to the i,i>th joint.

Parameters:

i - the index of the joint.

dalpha - the rotation angle.

Returns:

an array of 0 or 1, for each arm 1 if the rotation caused the arm to strech, 0 if not.

 private int moveJointsEx()

calculates the locations of the periferial joint has the same effect as moveJointsA.

Returns:

the index of the last arm which had been streched due its new location.

 public int moveCenterEx(double dx,
                         double dy)

moves the machine by setting a new location for the central joint The method will always change the position of the machine. use moveCenter to conditionaly move the machine.

Parameters:

dx - the amount to move the center in the horizontal direction.

dy - the amount to move the center in the vertical direction.

Returns:

the index of the last joint which was streched by activating this method.

See Also:

moveCenter

 public void moveCenter(double dx,
                        double dy) throws MachineException

Conditionaly moves the machine by setting a new location for the central joint.

Parameters:

dx - the amount to move the center in the horizontal direction.

dy - the amount to move the center in the vertical direction.

Throws: MachineException

if the new state is not physicaly allowed. see #moveCenterEx

 public int rotateCenterEx(int i,
                           double dalpha)

rotates the central joint with respect to the i,i>th joint.

Parameters:

i - the index of the joint.

dalpha - the rotation angle.

Returns:

the index of the last joint to strech.

 public void rotateCenter(int i,
                          double dalpha) throws MachineException

conditionaly rotates the central joint.

Throws: MachineException

if the rotation is not physicaly possible.

See Also:

rotateCenterEx

 public void switchBend(int i)

Switch the bending of a given periferial joint with respect to the central joint and its anchor.

Parameters:

i - the index of the joint to strech.

 public void strechArm(int arm)

strech the given arm

 public boolean armStreched(int i)

Parameters:

i - the index of the arm.

Returns:

true if arm i is streched.

 public void finalize() throws Throwable

Sets object fields to null.

Throws: Throwable

.

Overrides:

finalize in class Machine

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