CartesianManipulator.java

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package com.neuronrobotics.bowlerkernel.Bezier3d;
 
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
 
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
 
import eu.mihosoft.vrl.v3d.CSG;
import eu.mihosoft.vrl.v3d.Cylinder;
import eu.mihosoft.vrl.v3d.Vector3d;
import javafx.scene.paint.Color;
import javafx.scene.transform.Affine;
 
public class CartesianManipulator {
    public Affine manipulationMatrix = new Affine();
    CSG manip1 = new Cylinder(0, 5, 40, 10).toCSG().setColor(Color.BLUE);
    CSG manip2 = new Cylinder(0, 5, 40, 10).toCSG().roty(-90).setColor(Color.RED);
    CSG manip3 = new Cylinder(0, 5, 40, 10).toCSG().rotx(90).setColor(Color.GREEN);
    private manipulation[] manipulationList = new manipulation[3];
    TransformNR globalPose;
 
    public CartesianManipulator(TransformNR globalPose) {
        this.globalPose = globalPose;
        manip1.setMfg(incoming -> null);
        manip2.setMfg(incoming -> null);
        manip3.setMfg(incoming -> null);
        manipulationList[0] = new manipulation(manipulationMatrix, new Vector3d(0, 0, 1), manip1, globalPose);
        manipulationList[1] = new manipulation(manipulationMatrix, new Vector3d(0, 1, 0), manip3, globalPose);
        manipulationList[2] = new manipulation(manipulationMatrix, new Vector3d(1, 0, 0), manip2, globalPose);
    }
 
    public void addEventListener(Runnable r) {
        for (int i = 0; i < 3; i++)
            manipulationList[i].addEventListener(r);
    }
 
    public void addSaveListener(Runnable r) {
        for (int i = 0; i < 3; i++)
            manipulationList[i].addSaveListener(r);
    }
 
    public List<CSG> get() {
        return Arrays.asList(manip1, manip2, manip3);
    }
 
    public double getX() {
        return manipulationList[2].currentPose.getX();
    }
 
    public double getY() {
        return manipulationList[1].currentPose.getY();
    }
 
    public double getZ() {
        return manipulationList[0].currentPose.getZ();
    }
 
    public void addDependant(CartesianManipulator r) {
        for (int i = 0; i < 3; i++)
            manipulationList[i].addDependant(r.manipulationList[i]);
    }
    public boolean isMoving() {
        for (int i = 0; i < 3; i++)
            if(manipulationList[i].isMoving())
                return true;
        return false;
    }
 
    public void clearListeners() {
        // TODO Auto-generated method stub
        for (int i = 0; i < 3; i++)
            manipulationList[i].clearListeners();
    }
 
    public void set(double newX, double newY, double newZ) {
        for (int i = 0; i < 3; i++)
            manipulationList[i].set(newX,newY,newZ);
    }
}