SequenceEvent.java

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package com.neuronrobotics.bowlerstudio.sequence;
 
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import com.neuronrobotics.sdk.addons.kinematics.IOnInterpolationDone;
import com.neuronrobotics.sdk.addons.kinematics.InterpolationMoveState;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.pid.InterpolationType;
 
public class SequenceEvent implements IOnInterpolationDone{
    private TransformNR pose = new TransformNR();
    private InterpolationType mode = InterpolationType.LINEAR;
    
    private double TRAPEZOIDAL_time=0;
    private double BEZIER_P0=0;
    private double BEZIER_P1=0;
    
    private int msDuration=1;
    
    public void execute(DHParameterKinematics kin) {
        double seconds = ((double)msDuration)/1000.0;
        if(mode==InterpolationType.BEZIER)
            kin.asyncInterpolatedMove(pose, seconds, mode,this, BEZIER_P0,BEZIER_P1);
        else if(mode==InterpolationType.TRAPEZOIDAL)
            kin.asyncInterpolatedMove(pose, seconds, mode,this,  TRAPEZOIDAL_time);
        else
            kin.asyncInterpolatedMove(pose, seconds, mode,this);        
 
    }
    
    public TransformNR getPose() {
        return pose;
    }
 
    public void setPose(TransformNR pose) {
        this.pose = pose;
    }
 
    public InterpolationType getType() {
        return mode;
    }
 
    public void setType(InterpolationType mode) {
        this.mode = mode;
    }
 
    public double getTRAPEZOIDAL_time() {
        return TRAPEZOIDAL_time;
    }
 
    public void setTRAPEZOIDAL_time(double tRAPEZOIDAL_time) {
        TRAPEZOIDAL_time = tRAPEZOIDAL_time;
    }
 
    public double getBEZIER_P0() {
        return BEZIER_P0;
    }
 
    public void setBEZIER_P0(double bEZIER_P0) {
        BEZIER_P0 = bEZIER_P0;
    }
 
    public double getBEZIER_P1() {
        return BEZIER_P1;
    }
 
    public void setBEZIER_P1(double bEZIER_P1) {
        BEZIER_P1 = bEZIER_P1;
    }
 
    public int getMsDuration() {
        return msDuration;
    }
 
    public void setMsDuration(int msDuration) {
        this.msDuration = msDuration;
    }
 
    @Override
    public void done(InterpolationMoveState state) {
        // TODO Auto-generated method stub
        
    }
}