-
Notifications
You must be signed in to change notification settings - Fork 11
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Added violation infrastructure, joint and link constrains, and bugfixes
- Loading branch information
1 parent
6283a8b
commit 41c3772
Showing
49 changed files
with
1,246 additions
and
108 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,162 @@ | ||
| package HAL.dataTypes; | ||
|
|
||
| import java.io.Serializable; | ||
| import java.util.ArrayList; | ||
|
|
||
| import org.json.JSONException; | ||
| import org.json.JSONObject; | ||
|
|
||
| import HAL.libraries.knowledgedb_client.KnowledgeDBClient; | ||
| import HAL.libraries.knowledgedb_client.Row; | ||
|
|
||
| public class GazeboJoint implements Serializable { | ||
| private static final long serialVersionUID = 4744706739412950824L; | ||
|
|
||
| public static final String JOINT_NAME = "jointName"; | ||
| public static final String MAX_ERROR_POSE = "maxErrorPose"; | ||
|
|
||
| private static final String getGazeboJointsForModuleType = | ||
| "SELECT gazeboModel, jointName, maxErrorPose \n" + | ||
| "FROM GazeboJoint \n" + | ||
| "WHERE gazeboModel = ( \n" + | ||
| " SELECT gazeboModel \n" + | ||
| " FROM ModuleType \n" + | ||
| " WHERE manufacturer = ? AND \n" + | ||
| " typeNumber = ? \n" + | ||
| ");"; | ||
| private static final String getGazeboJointsForGazeboModel = | ||
| "SELECT gazeboModel, jointName, maxErrorPose \n" + | ||
| "FROM GazeboJoint \n" + | ||
| "WHERE gazeboModel = ?;"; | ||
| private static final String getGazeboJointsForPartType = | ||
| "SELECT gazeboModel, jointName, maxErrorPose \n" + | ||
| "FROM GazeboJoint \n" + | ||
| "WHERE gazeboModel = ( \n" + | ||
| " SELECT gazeboModel \n" + | ||
| " FROM PartType \n" + | ||
| " WHERE typeNumber = ? \n" + | ||
| ");"; | ||
| private static final String addGazeboJoint = | ||
| "INSERT INTO GazeboJoint \n" + | ||
| "(gazeboModel, jointName, maxErrorPose) \n" + | ||
| "VALUES(?, ?, ?);"; | ||
| private static final String updateGazeboJoint = | ||
| "UPDATE GazeboJoint \n" + | ||
| "SET maxErrorPose = ? \n" + | ||
| "WHERE gazeboModel = ? AND \n" + | ||
| " jointName = ?"; | ||
| private static final String removeGazeboJoint = | ||
| "DELETE FROM GazeboJoint \n" + | ||
| "WHERE gazeboModel = ? AND \n" + | ||
| " jointName = ?"; | ||
|
|
||
| public GazeboModel gazeboModel; | ||
| public String jointName; | ||
| public double maxErrorPose; | ||
|
|
||
| public GazeboJoint() { | ||
| } | ||
| public GazeboJoint(GazeboModel gazeboModel, String jointName, double maxErrorPose) { | ||
| this.gazeboModel = gazeboModel; | ||
| this.jointName = jointName; | ||
| this.maxErrorPose = maxErrorPose; | ||
| } | ||
|
|
||
| /** | ||
| * This method will get the JavaSoftware associated with the module. | ||
| * @param moduleIdentifier | ||
| * @return | ||
| */ | ||
| public static ArrayList<GazeboJoint> getGazeboJointsForModuleIdentifier(ModuleTypeIdentifier moduleIdentifier, KnowledgeDBClient knowledgeDBClient) { | ||
| Row[] rows = knowledgeDBClient.executeSelectQuery(getGazeboJointsForModuleType, moduleIdentifier.manufacturer, moduleIdentifier.typeNumber); | ||
|
|
||
| ArrayList<GazeboJoint> joints = new ArrayList<GazeboJoint>(); | ||
| for (Row row : rows) { | ||
| String jointName = (String) row.get("jointName"); | ||
| double maxErrorPose = (double) row.get("maxErrorPose"); | ||
|
|
||
| GazeboModel gazeboModel = GazeboModel.getGazeboModelForModuleIdentifier(moduleIdentifier, knowledgeDBClient); | ||
| joints.add(new GazeboJoint(gazeboModel, jointName, maxErrorPose)); | ||
| } | ||
| return joints; | ||
| } | ||
|
|
||
| /** | ||
| * This method will get the JavaSoftware associated with the module. | ||
| * @param moduleIdentifier | ||
| * @return | ||
| */ | ||
| public static ArrayList<GazeboJoint> getGazeboJointsForGazeboModel(GazeboModel model, KnowledgeDBClient knowledgeDBClient) { | ||
| Row[] rows = knowledgeDBClient.executeSelectQuery(getGazeboJointsForGazeboModel, model.id); | ||
|
|
||
| ArrayList<GazeboJoint> joints = new ArrayList<GazeboJoint>(); | ||
| for (Row row : rows) { | ||
| String jointName = (String) row.get("jointName"); | ||
| double maxErrorPose = (double) row.get("maxErrorPose"); | ||
|
|
||
| joints.add(new GazeboJoint(model, jointName, maxErrorPose)); | ||
| } | ||
| return joints; | ||
| } | ||
|
|
||
| /** | ||
| * This method will get the JavaSoftware associated with the part. | ||
| * @param moduleIdentifier | ||
| * @return | ||
| */ | ||
| public static ArrayList<GazeboJoint> getGazeboJointsForPartTypeNumber(String partTypeNumber, KnowledgeDBClient knowledgeDBClient) { | ||
| Row[] rows = knowledgeDBClient.executeSelectQuery(getGazeboJointsForPartType, partTypeNumber); | ||
|
|
||
| ArrayList<GazeboJoint> joints = new ArrayList<GazeboJoint>(); | ||
| for (Row row : rows) { | ||
| String jointName = (String) row.get("jointName"); | ||
| double maxErrorPose = (double) row.get("maxErrorPose"); | ||
|
|
||
| GazeboModel gazeboModel = GazeboModel.getGazeboModelForPartTypeNumber(partTypeNumber, knowledgeDBClient); | ||
| joints.add(new GazeboJoint(gazeboModel, jointName, maxErrorPose)); | ||
| } | ||
| return joints; | ||
| } | ||
| public static GazeboJoint deSerialize(JSONObject input, GazeboModel gazeboModel) throws JSONException { | ||
| GazeboJoint output = new GazeboJoint(); | ||
|
|
||
| output.gazeboModel = gazeboModel; | ||
| output.jointName = input.getString(JOINT_NAME); | ||
| output.maxErrorPose = input.getDouble(MAX_ERROR_POSE); | ||
|
|
||
| return output; | ||
| } | ||
| public JSONObject serialize() throws JSONException { | ||
| JSONObject output = new JSONObject(); | ||
|
|
||
| output.put(JOINT_NAME, jointName); | ||
| output.put(MAX_ERROR_POSE, maxErrorPose); | ||
|
|
||
| return output; | ||
| } | ||
|
|
||
| /** | ||
| * Deserializes java software from a JSONObject and stores in in the knowledge database using the provided KnowledgeDBClient. | ||
| * @param javaSoftware | ||
| * @param knowledgeDBClient | ||
| * @return the now stored java software | ||
| * @throws JSONException | ||
| */ | ||
| public void insertIntoDatabase(KnowledgeDBClient knowledgeDBClient) { | ||
| knowledgeDBClient.executeUpdateQuery(addGazeboJoint, | ||
| gazeboModel.id, jointName, maxErrorPose); | ||
| } | ||
| /** | ||
| * This method will update the java software in the knowledge database. | ||
| * @param javaSoftware | ||
| * @throws JSONException | ||
| */ | ||
| public void updateGazeboModel(GazeboJoint gazeboJointToBeUpdated, KnowledgeDBClient knowledgeDBClient) { | ||
| knowledgeDBClient.executeUpdateQuery(updateGazeboJoint, | ||
| maxErrorPose, | ||
| gazeboJointToBeUpdated.gazeboModel.id, gazeboJointToBeUpdated.jointName); | ||
| } | ||
| public void removeFromDatabase(KnowledgeDBClient knowledgeDBClient) { | ||
| knowledgeDBClient.executeUpdateQuery(removeGazeboJoint, gazeboModel.id, jointName); | ||
| } | ||
| } |
Oops, something went wrong.