org.openpnp.model

Class AxesLocation

java.lang.Object

org.openpnp.model.AxesLocation

public class AxesLocation
extends java.lang.Object

Like the classic OpenPnP Location, the AxesLocation stores a set of coordinates. However AxesLocation can store an arbitrary number of axes and their coordinates, including multiple times the same Axis.Type e.g. multiple Z or C axes. All coordinates are handled as Millimeters to speed up calculations and allow for multi-axis transforms across drivers with different units. This unit-less handling also avoids problems with rotational axis coordinates that should obviously never be length unit converted. Like Location, the AxesLoction is sometimes used as a Vector, thought as a distance to the origin. Furthermore, it is sometimes used as an axis map, i.e. only the included axes are important, not the coordinates. Coordinates of axes not present in the AxesLocation are sometimes treated as 0.0, in other cases however a missing axis means that it should not be included in an operation such as moveTo(), etc. Be careful to determine which meaning applies. AxesLocations preserve the order of the axes. In particular the Configuration order of axis definitions is sometimes used to treat axes in their "natural" order, where it may matter.

Field Summary

Fields

Modifier and Type	Field and Description
static AxesLocation	zero

Constructor Summary

Constructors

Constructor and Description
AxesLocation() Create an empty AxesLocation.
AxesLocation(Axis axis, double coordinate) Create a single Axis/coordinate pair AxesLocation.
AxesLocation(Axis axis, Length coordinate) Create a single Axis/Length coordinate pair AxesLocation.
AxesLocation(java.util.function.BiFunction<java.lang.Double,java.lang.Double,java.lang.Double> function, AxesLocation... axesLocation) Using the given binary function, aggregate the given axesLocation argument list.
AxesLocation(CoordinateAxis... axis) Create an AxesLocation with the given CoordinateAxis argument list and initialize to the current coordinates (i.e.
AxesLocation(java.util.function.Function<java.lang.Double,java.lang.Double> function, AxesLocation axesLocation) Create a new AxesLocation with the given function applied to the coordinates of axesLocation.
AxesLocation(java.lang.Iterable<T> axes, java.util.function.Function<T,Length> initializer) Create an AxesLocation with the given typed Axis Iterable and initialize coordinates with the given function.
AxesLocation(java.util.List<CoordinateAxis> axes) Create an AxesLocation with the given Axis List and initialize to the current coordinates (i.e.
AxesLocation(Machine machine) Create an AxesLoaction over all the ControllerAxes of the machine and initialize to the current coordinates (i.e.
AxesLocation(Machine machine, Driver driver, java.util.function.Function<ControllerAxis,Length> initializer) Create an AxesLoaction over all the ControllerAxes of the machine (in Machine Setup order) and with the given driver.
AxesLocation(Machine machine, java.util.function.Function<CoordinateAxis,Length> initializer) Create an AxesLoaction over all the CoordinateAxes of the machine (in Machine Setup order).

Method Summary

Modifier and Type	Method and Description
AxesLocation	add(AxesLocation other)
AxesLocation	along(AxesLocation other) Returns this vector projected perpendicularly onto the other.
AxesLocation	byType(Axis.Type... types) Filter those axes from the AxesLocation that have one of the given Axis.Types.
boolean	contains(Axis axis)
double	dotProduct(AxesLocation other) Returns the dot product of this AxesLocation with the other, both treated as vectors.
AxesLocation	drivenBy(Driver driver) Filter those axes from the AxesLocation that are driven by the given driver.
java.util.Set<Axis>	getAxes() Return all the axes from the AxesLocation.
<T extends Axis> java.util.LinkedHashSet<T>	getAxes(java.lang.Class<T> axisClass) Get those axes from the AxesLocation that are of the given axisClass.
java.util.LinkedHashSet<ControllerAxis>	getAxes(Driver driver) Get those axes from the AxesLocation that are driven by the given driver.
java.util.List<Driver>	getAxesDrivers(Machine machine) Get the drivers of all the ControllerAxes in this AxesLocation.
CoordinateAxis	getAxis(Axis.Type axisType)
ControllerAxis	getAxis(Driver driver, Axis.Type axisType) From the AxisLocation, return the driver axis of the given type.
ControllerAxis	getAxisByVariable(Driver driver, java.lang.String variable) From the AxisLocation, return the driver axis with the specified variable name.
java.util.LinkedHashSet<ControllerAxis>	getControllerAxes() Get all the axes from the AxesLocation that are ControllerAxis.
double	getCoordinate(Axis axis) Get the coordinate for the given axis from the AxesLocation.
double	getCoordinate(Axis axis, LengthUnit units) Get the coordinate for the given axis from the AxesLocation, converted to the given length units.
double	getEuclideanMetric() Returns the Euclidean metric i.e.
Triplet<java.lang.Double,java.lang.Double,java.lang.Double>	getEuclideanMetric(Driver driver, java.util.function.Function<ControllerAxis,java.lang.Double> f) Get the Euclidean metric i.e.
Length	getLengthCoordinate(Axis axis) Get the coordinate for the given axis from the AxesLocation as a Length.
java.lang.Double	getRS274NGCMetric(Driver driver, java.util.function.Function<ControllerAxis,java.lang.Double> f) Get the metric according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p.
AxesLocation	getTypedLocation(Location location) Based on the mapped axes in this, substitute coordinates by Axis.Type to convert a Location to an AxisLocation.
static LengthUnit	getUnits() All coordinates of AxesLoactions are handled as Millimeters to speed up calculations and allow for multi-axis transforms across drivers with different units and other universal vector math.
boolean	isEmpty()
boolean	isInSafeZone()
boolean	matches(AxesLocation other) Returns true if the coordinates of this location match the other's.
AxesLocation	motionSegmentTo(AxesLocation location1) Create a distance vector over ControllerAxes that are both contained in this and location1 and that are not matching in coordinates.
AxesLocation	multiply(double factor)
AxesLocation	put(AxesLocation other)
void	setToCoordinates() Set this AxesLocation to the axes as the current (planned) location.
void	setToDriverCoordinates(Driver driver) Set this AxesLocation to the axes of the given driver as the current driver location.
int	size()
AxesLocation	subtract(AxesLocation other)
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

zero

public static final AxesLocation zero

Constructor Detail

AxesLocation

public AxesLocation()

Create an empty AxesLocation. Because coordinates often default to 0.0, this can also be used as the origin or zero AxesLocation. See also org.openpnp.model.AxesLocation.zero.

AxesLocation

public AxesLocation(Axis axis,
                    double coordinate)

Create a single Axis/coordinate pair AxesLocation.

Parameters:

axis -

coordinate -

AxesLocation

public AxesLocation(Axis axis,
                    Length coordinate)

Create a single Axis/Length coordinate pair AxesLocation.

Parameters:

axis -

coordinate -

AxesLocation

public AxesLocation(CoordinateAxis... axis)

Create an AxesLocation with the given CoordinateAxis argument list and initialize to the current coordinates (i.e. planned coordinates).

Parameters:

axes -

AxesLocation

public AxesLocation(java.util.List<CoordinateAxis> axes)

Create an AxesLocation with the given Axis List and initialize to the current coordinates (i.e. planned coordinates).

Parameters:

axes -

AxesLocation

public AxesLocation(java.lang.Iterable<T> axes,
                    java.util.function.Function<T,Length> initializer)

Create an AxesLocation with the given typed Axis Iterable and initialize coordinates with the given function.

Type Parameters:

T -

Parameters:

axes -

initializer -

AxesLocation

public AxesLocation(Machine machine)

Create an AxesLoaction over all the ControllerAxes of the machine and initialize to the current coordinates (i.e. planned coordinates).

Parameters:

machine -

AxesLocation

public AxesLocation(Machine machine,
                    java.util.function.Function<CoordinateAxis,Length> initializer)

Create an AxesLoaction over all the CoordinateAxes of the machine (in Machine Setup order). Apply the given function to initialize the coordinates.

Parameters:

machine -

initializer -

AxesLocation

public AxesLocation(Machine machine,
                    Driver driver,
                    java.util.function.Function<ControllerAxis,Length> initializer)

Create an AxesLoaction over all the ControllerAxes of the machine (in Machine Setup order) and with the given driver. Apply the given function to initialize the coordinates.

Parameters:

machine -

driver -

initializer -

AxesLocation

public AxesLocation(java.util.function.BiFunction<java.lang.Double,java.lang.Double,java.lang.Double> function,
                    AxesLocation... axesLocation)

Using the given binary function, aggregate the given axesLocation argument list.

Parameters:

function -

axesLocation -

AxesLocation

public AxesLocation(java.util.function.Function<java.lang.Double,java.lang.Double> function,
                    AxesLocation axesLocation)

Create a new AxesLocation with the given function applied to the coordinates of axesLocation.

Parameters:

function -

axesLocation -

Method Detail

getUnits

public static final LengthUnit getUnits()

All coordinates of AxesLoactions are handled as Millimeters to speed up calculations and allow for multi-axis transforms across drivers with different units and other universal vector math. This unit-less handling also avoids problems with rotational axis coordinates that should obviously never be length unit converted.

Returns:

add

public AxesLocation add(AxesLocation other)

subtract

public AxesLocation subtract(AxesLocation other)

multiply

public AxesLocation multiply(double factor)

put

public AxesLocation put(AxesLocation other)

dotProduct

public double dotProduct(AxesLocation other)

Returns the dot product of this AxesLocation with the other, both treated as vectors.

Parameters:

other -

Returns:

along

public AxesLocation along(AxesLocation other)

Returns this vector projected perpendicularly onto the other. This results in a vector that points into the same direction as the other vector and has a length that is equal to the length of this vector times the cosine of the angle between them.

Parameters:

other -

Returns:

drivenBy

public AxesLocation drivenBy(Driver driver)

Filter those axes from the AxesLocation that are driven by the given driver.

Parameters:

driver -

Returns:

byType

public AxesLocation byType(Axis.Type... types)

Filter those axes from the AxesLocation that have one of the given Axis.Types.

Parameters:

types -

Returns:

getAxes

public java.util.Set<Axis> getAxes()

Return all the axes from the AxesLocation.

Returns:

getAxes

public java.util.LinkedHashSet<ControllerAxis> getAxes(Driver driver)

Get those axes from the AxesLocation that are driven by the given driver.

Parameters:

driver -

Returns:

getAxes

public <T extends Axis> java.util.LinkedHashSet<T> getAxes(java.lang.Class<T> axisClass)

Get those axes from the AxesLocation that are of the given axisClass.

Parameters:

axisClass -

Returns:

getControllerAxes

public java.util.LinkedHashSet<ControllerAxis> getControllerAxes()

Get all the axes from the AxesLocation that are ControllerAxis.

Parameters:

driver -

Returns:

contains

public boolean contains(Axis axis)

matches

public boolean matches(AxesLocation other)

Returns true if the coordinates of this location match the other's. Note, this is asymmetric, as only the axes contained in this location are matched. If the other location contains more axes, they are ignored. If this location contains more axes, they are compared against 0.0. Uses the resolution of the involved axes for tolerance.

Parameters:

driver -

other -

Returns:

size

public int size()

isEmpty

public boolean isEmpty()

setToCoordinates

public void setToCoordinates()

Set this AxesLocation to the axes as the current (planned) location.

setToDriverCoordinates

public void setToDriverCoordinates(Driver driver)

Set this AxesLocation to the axes of the given driver as the current driver location.

Parameters:

driver -

getCoordinate

public double getCoordinate(Axis axis)

Get the coordinate for the given axis from the AxesLocation.

Parameters:

axis -

Returns:

getCoordinate

public double getCoordinate(Axis axis,
                            LengthUnit units)

Get the coordinate for the given axis from the AxesLocation, converted to the given length units.

Parameters:

axis -

units -

Returns:

getLengthCoordinate

public Length getLengthCoordinate(Axis axis)

Get the coordinate for the given axis from the AxesLocation as a Length.

Parameters:

axis -

Returns:

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getTypedLocation

public AxesLocation getTypedLocation(Location location)
                              throws java.lang.Exception

Based on the mapped axes in this, substitute coordinates by Axis.Type to convert a Location to an AxisLocation. Used together with org.openpnp.spi.MovableMountable.getMappedAxes(Machine).

Parameters:

location -

Returns:

Throws:

java.lang.Exception

getAxesDrivers

public java.util.List<Driver> getAxesDrivers(Machine machine)

Get the drivers of all the ControllerAxes in this AxesLocation.

Parameters:

machine -

Returns:

getAxis

public ControllerAxis getAxis(Driver driver,
                              Axis.Type axisType)
                       throws java.lang.Exception

From the AxisLocation, return the driver axis of the given type.

Parameters:

driver -

axisType -

Returns:

Throws:

java.lang.Exception

getAxis

public CoordinateAxis getAxis(Axis.Type axisType)
                       throws java.lang.Exception

Throws:

java.lang.Exception

getAxisByVariable

public ControllerAxis getAxisByVariable(Driver driver,
                                        java.lang.String variable)
                                 throws java.lang.Exception

From the AxisLocation, return the driver axis with the specified variable name.

Parameters:

variable - The name of the variable.

Returns:

Throws:

java.lang.Exception - If the variable names are unassigned or not unique within the mapped axes.

isInSafeZone

public boolean isInSafeZone()

motionSegmentTo

public AxesLocation motionSegmentTo(AxesLocation location1)

Create a distance vector over ControllerAxes that are both contained in this and location1 and that are not matching in coordinates. This will return a vector with only the axes that need to move.

Parameters:

location1 -

Returns:

getEuclideanMetric

public double getEuclideanMetric()

Returns the Euclidean metric i.e. the distance in N-dimensional space of the AxesLocation from the origin i.e. treated as a vector.

Returns:

getEuclideanMetric

public Triplet<java.lang.Double,java.lang.Double,java.lang.Double> getEuclideanMetric(Driver driver,
                                                                                      java.util.function.Function<ControllerAxis,java.lang.Double> f)

Get the Euclidean metric i.e. the distance in N-dimensional space of the AxesLocation using the given function.

Parameters:

driver - The driver for which the rate is calculated i.e. for the axes mapped to it.

f - The function to be applied to the AxesLocation to obtain the metric.

Returns:

a Triplet with Euclidean rate.

getRS274NGCMetric

public java.lang.Double getRS274NGCMetric(Driver driver,
                                          java.util.function.Function<ControllerAxis,java.lang.Double> f)

Get the metric according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7). The rate is to be interpreted over the Euclidean linear axis distance of a move and in the absence of any linear axes, over the Euclidean angular distance of the move.

Parameters:

driver -

f -

Returns:

See Also:

https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823374