org.robokind.api.common.utils.Utils.bound()方法的使用及代码示例

x33g5p2x  于2022-02-01 转载在 其他  
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本文整理了Java中org.robokind.api.common.utils.Utils.bound()方法的一些代码示例，展示了Utils.bound()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。Utils.bound()方法的具体详情如下：
包路径：org.robokind.api.common.utils.Utils
类名称：Utils
方法名：bound

Utils.bound介绍

暂无

代码示例

代码示例来源：origin: org.robokind/org.robokind.api.motion

private static long validateInterval(long interval){
  return Utils.bound(interval, 1, Integer.MAX_VALUE-1);
}

代码示例来源：origin: org.robokind/org.robokind.impl.motion.dynamixel

private static int dist(int speed, long time){
  speed = Utils.bound(speed, -1023, 1023);
  time = Math.max(time, 1);
  double rpm = (double)speed*theRXRPMConversion;
  double theta = (rpm*360.0)/(60000.0/time);
  double dist = (theta/theRXRotationRange)*theRXMaxPosition;
  return (int) dist;
}

代码示例来源：origin: org.robokind/org.robokind.impl.motion.dynamixel

private static int calculateSpeed(int cur, int goal, long time){
  //time is in milliseconds
  //cur and goal are dynamixel values, [0, 1023]
  int dist = Math.abs(goal - cur);
  //dynamixel range of motion is 300 degrees
  double theta = dist*theRXRotationRange/theRXMaxPosition;
  time = Math.max(time, 1);
  
  //60000ms/minute, 360 deg/rotation
  double rpm = theta * (60000.0/time) / 360.0; 
  double speed = rpm/theRXRPMConversion;
  //make sure the speed is between 1 and 1023
  //0 is max speed, so minimum is 1
  return Utils.bound((int)speed, 1, 1023);
}

代码示例来源：origin: org.robokind/org.robokind.api.audio

public AudioPlayLoop(AudioFormat format, byte[] audio, int start, int end, 
    long startDelay, int bufferSize, Playable parent){
  if(audio == null){
    throw new NullPointerException();
  }
  myAudio = audio;
  myStopIndex = end <= -1 ? myAudio.length : end;
  myStopIndex = Math.min(myStopIndex, myAudio.length);
  myStartIndex = Utils.bound(start, 0, myStopIndex);
  myPlayIndex = myStartIndex;
  myRunningFlag = false;
  myBufferSize = bufferSize;
  myStopFlag = false;
  myParent = parent;
  myFormat = format;
  setStartDelayMillisec(startDelay);
}

代码示例来源：origin: org.robokind/org.robokind.api.audio

public WavBufferProcessor(WavBuffer wav, int startByte, int stopByte){
  myAudio = wav.getAudioBytes();
  myBufferSamples = theDefaultBufferSize;
  myFormat = wav.getFormat();
  myStartIndex = Utils.bound(startByte, 0, myAudio.length-1);
  myStopIndex = Utils.bound(stopByte, myStartIndex+1, myAudio.length);
  myProcIndex = myStartIndex;
  initAudioStream();
}

代码示例来源：origin: org.robokind/org.robokind.api.audio

public void setBytePosition(long position){
  int playPos = (int)(position - myStartDelayBytes);
  int frameSize = myFormat.getFrameSize();
  double frameRate = myFormat.getFrameRate();
  double frames = position/frameSize;
  double sec = frames / frameRate;
  long msec = (long)(sec * 1000);
  if(playPos >= 0){
    myPlayIndex = Utils.bound(playPos+myStartIndex, myStartIndex, myStopIndex);
  }else{
    myPlayIndex = myStartIndex;
  }
  myElapsedPlayTime = msec;
  
}

代码示例来源：origin: org.robokind/org.robokind.api.motion

/**
 * Averages the goal positions from the MotionFrames into a single 
 * PositionMap.  The MotionFrames' start positions, timing, and 
 * FrameSources are ignored.
 * @return PositionMap with averaged goal positions from the MotionFrames
 */
@Override
public PosMap combineFrames(long time, long interval, PosMap curPos, 
Map<? extends MotionFrame<PosMap>, ? extends FrameSource<PosMap>> frames) {
  //Use a HashMap instead of a PositionMap since the sum may be greater
  //than 1.0 before averaging.
  Map<Id, Double> posSums = new HashMap();
  Map<Id, Integer> count = new HashMap();
  
  for(MotionFrame f : frames.keySet()){
    sumGoalPositions(f, posSums, count);
  }
  PosMap pos = myPositionMapFactory.getValue();
  for(Entry<Id,Double> e : posSums.entrySet()){
    Id id = e.getKey();
    double goal = e.getValue();
    double c = count.get(id);
    double avg = goal/c;
    avg = Utils.bound(avg, 0.0, 1.0);
    NormalizedDouble val = new NormalizedDouble(avg);
    pos.put(id, val);
  }
  return pos;
}

代码示例来源：origin: org.robokind/org.robokind.api.motion

double val = goal.getValue();
val += velocities.get(i) * (double)interval;
val = Utils.bound(val, 0.0, 1.0);
pos.put(i, new NormalizedDouble(val));

代码示例来源：origin: org.robokind/org.robokind.impl.motion.dynamixel

public NormalizedDouble getCurrentPosition(){
  if(myFeedbackVals == null){
    return myDefaultPosition;
  }
  double min = myConfig.getMinPosition();
  double max = myConfig.getMaxPosition();
  Double range = max - min;
  Double abs = myFeedbackVals.getCurrentPosition() - min;
  Double pos = Utils.bound(abs/range, 0.0, 1.0);
  return new NormalizedDouble(pos);
}

代码示例来源：origin: org.robokind/org.robokind.impl.motion.dynamixel

/**
 *
 * @return
 */
public NormalizedDouble getCurrentPosition() {
  double min = myConfig.getMinPosition();
  double max = myConfig.getMaxPosition();
  Double range = max - min;
  Double abs = getCurrentPositionAbs() - min;
  Double pos = Utils.bound(abs/range, 0.0, 1.0);
  return new NormalizedDouble(pos);
}
/**

代码示例来源：origin: org.cogchar/org.cogchar.bundle.bind.robokind

protected void updateConfig(BoneJointConfig bjc, boolean flag_hardResetGoalPosToDefault) { 
  double defPosVal = Utils.bound(bjc.myNormalDefaultPos, 0.0, 1.0);
  myDefaultPosNorm = new NormalizedDouble(defPosVal);
  myBoneProjectionRanges =  bjc.myProjectionRanges;
  List<BoneProjectionRange> projRanges = getBoneRotationRanges();
  if(projRanges == null || projRanges.isEmpty()){
    myNormalizableRange = NormalizableRange.NORMALIZED_RANGE;
  } else {
    BoneProjectionRange range = projRanges.get(0);
    double min = range.getMinPosAngRad();
    double max = range.getMaxPosAngRad();
    myNormalizableRange = new DoubleRange(min, max);
  }
  if (flag_hardResetGoalPosToDefault) {
      hardResetGoalPosToDefault();
  }
}
private void hardResetGoalPosToDefault() {

代码示例来源：origin: org.robokind/org.robokind.api.speech

/**
 * Creates a new VisemeBinding with the given configuration.
 * @param config configuration for the VisemeBinding
 */
public VisemeBinding(VisemeBindingConfig<VisemePosition> config){
  this(config.getBindingId());
  
  for(VisemePosition pos : config.getVisemeBindings()){
    int id = pos.getVisemeId();
    Viseme vis = Viseme.getById(id);
    double boundPos = Utils.bound(pos.getPosition(), 0.0, 1.0);
    NormalizedDouble val = new NormalizedDouble(boundPos);
    myVisemeValueMap.put(vis, val);
  }
}

代码示例来源：origin: org.robokind/org.robokind.integration.motion_speech

private void addJoint(JointId jointId, 
    MotionFrame frame, double startPercent, double stopPercent){
  NormalizedDouble normAbsStart = myStartPositions.get(jointId);
  NormalizedDouble normAbsStop = myGoalPositions.get(jointId);
  if(normAbsStart == null || normAbsStop == null){
    return;
    
  }
  double absStart = normAbsStart.getValue();
  double absStop = normAbsStop.getValue();
  
  double range = absStop - absStart;
  double start = startPercent*range + absStart;  
  start = Utils.bound(start, 0.0, 1.0);      
  double stop = stopPercent*range + absStart;
  stop = Utils.bound(stop, 0.0, 1.0);
  
  frame.getPreviousPositions().put(jointId, new NormalizedDouble(start));
  frame.getGoalPositions().put(jointId, new NormalizedDouble(stop));
}

代码示例来源：origin: org.robokind/org.robokind.integration.motion_speech

double stopMillisec = startMillisec + moveLengthMilliSec;
stopMillisec = 
    Utils.bound(stopMillisec, startMillisec+1, myCurrentMoveLength);
double startPercent = startMillisec/(double)myCurrentMoveLength;
startPercent = Utils.bound(startPercent, 0.0, 1.0);
double stopPercent = stopMillisec/(double)myCurrentMoveLength;
stopPercent = Utils.bound(stopPercent, 0.0, 1.0);

代码示例来源：origin: org.robokind/org.robokind.integration.animation_motion

private void addRamping(Map<Integer,Double> curPos){
  myRampedAnimationMap = (CompiledMap)myAnimationMap.clone();
  double maxDif = findMaxDif(curPos);
  maxDif = Utils.bound(maxDif, 0.0, 1.0);
  myRampTimeMillisec = (int)(maxDif*myMaxRampTimeMillisec);
  InterpolatorFactory linearFact = new LinearInterpolatorFactory();

代码示例来源：origin: org.robokind/org.robokind.api.motion

elapsed = Utils.bound(elapsed, 0L, myMoveLengthMsec);
if(elapsed == myMoveLengthMsec){
  myFinsihedFlag = true;

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