Class HV

java.lang.Object
  |
  +--java.awt.Component
        |
        +--java.awt.Container
              |
              +--java.awt.Window
                    |
                    +--java.awt.Frame
                          |
                          +--HV

All Implemented Interfaces:

javax.accessibility.Accessible, java.awt.image.ImageObserver, java.awt.MenuContainer, java.io.Serializable

public class HV

extends java.awt.Frame

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright


This class is the main entry point for the MNS and LGM models and their simulation environment. The whole system can be compiled using
javac HV.java
and can be run using
java HV
or
java HV [.seg file [sidec radius [feat file?]]]
.seg file defines the arm object to be loaded as a Segment class. Each object would have many segments possible but currently only single segment is allowed. sidec, radius defines the cylinder drawn around the skeleton. feat file is not used anymore.

See Also:

Serialized Form

Inner classes inherited from class java.awt.Frame

java.awt.Frame.AccessibleAWTFrame

Inner classes inherited from class java.awt.Window

java.awt.Window.AccessibleAWTWindow

Inner classes inherited from class java.awt.Container

java.awt.Container.AccessibleAWTContainer

Inner classes inherited from class java.awt.Component

java.awt.Component.AccessibleAWTComponent, java.awt.Component.AWTTreeLock

Field Summary

private boolean	_reachDone
static java.net.URL	baseURL
(package private) static boolean	bellshape
(package private) HandBP	bp
static boolean	breakRequest
private java.awt.Image	buf1
private java.awt.Image	buf2
static java.awt.Button	commandb
static java.awt.TextField	comwin
(package private) int	curobj
(package private) static HVCanvas	cv
(package private) static java.lang.String	datadir
(package private) static int	dataFrame
(package private) static int	dataSession
java.lang.String[]	dispmodes
static int	DLEV
static boolean	doubleBuffering
private EyeMove	eyemove
static int	FANCY
java.lang.String	featfile
private boolean	firsttimer
Hand	gazeat
private Gesture1	gest1
static java.lang.String	gifBase
Segment[]	goalL
int	goalLc
(package private) static int	graphSession
static int	graspi
static java.lang.String[]	grasps
private java.awt.Image	im1
private java.awt.Image	im2
(package private) static java.awt.Label	infoLabel
(package private) static java.awt.Panel	infoPanel
(package private) static java.lang.String	ingif_base
(package private) static java.lang.String	inParFileBase
(package private) static int	inParFilec
(package private) static boolean	isApplet
(package private) static int	LASTMODE
static int	LWrecordSession
private Match	match1
static int	maxgraspc
(package private) static int	maxMER
(package private) static int	maxPAR
(package private) static int	maxRAD
(package private) static Motor	mcirc
(package private) static int	minMER
(package private) static int	minPAR
(package private) static int	minRAD
(package private) java.lang.String	model
(package private) static boolean	negativeExample
Gesture	newgest
(package private) int	objc
double	object_scale_fix
Graspable[]	objlist
int	objsc
java.awt.Scrollbar	objscale
Hand	obs
(package private) int	oldx
(package private) int	oldy
(package private) static java.lang.String	outFileBase
(package private) static int	outFilec
(package private) static java.lang.String	outgif_base
(package private) java.lang.Process	p
static Palette	pal
(package private) java.io.DataInputStream	pin
(package private) java.io.DataOutputStream	pout
static double	powBar
static double	precBar
(package private) java.lang.Runtime	r
(package private) java.io.InputStream	rawpin
(package private) java.io.OutputStream	rawpout
Reach	reach
static java.awt.Button	reachb
static int	recbarReq
static boolean	recordCanvas
static int	recordFrame
static boolean	recordGraphs
static boolean	recordLW
static int	recordSession
(package private) static java.lang.String	RESfile
Hand	rHand
int	rx
int	ry
int	rz
int	sc
java.awt.Scrollbar	scale
(package private) static HV	self
static boolean	showfeature
(package private) static int	SHOWHIDDEN
(package private) static int	SHOWLSHADE
int	showmode
(package private) static int	SHOWSHADE
(package private) static int	SHOWSKEL
(package private) static int	SHOWSOLID
(package private) static int	SHOWWIRE
static double	sideBar
static java.awt.TextField	speedtxt
(package private) Point3d[]	target
(package private) int	tiltAngle
static java.awt.TextField	timeconst
static boolean	traceon
Point3d	U
private java.lang.String	urltarget
static java.awt.TextField	weight
java.awt.Scrollbar	wsc
int	wscMAX
java.awt.Scrollbar	xang
java.awt.Scrollbar	yang
java.awt.Scrollbar	zang

Fields inherited from class java.awt.Frame

base, CROSSHAIR_CURSOR, DEFAULT_CURSOR, E_RESIZE_CURSOR, frameSerializedDataVersion, HAND_CURSOR, icon, ICONIFIED, mbManagement, menuBar, MOVE_CURSOR, N_RESIZE_CURSOR, nameCounter, NE_RESIZE_CURSOR, NORMAL, NW_RESIZE_CURSOR, ownedWindows, resizable, S_RESIZE_CURSOR, SE_RESIZE_CURSOR, serialVersionUID, state, SW_RESIZE_CURSOR, TEXT_CURSOR, title, W_RESIZE_CURSOR, WAIT_CURSOR, weakThis

Fields inherited from class java.awt.Window

active, dbg, focusMgr, inputContext, inputContextLock, nativeActive, OPENED, ownedWindowList, warningString, windowListener, windowSerializedDataVersion

Fields inherited from class java.awt.Container

component, containerListener, containerSerializedDataVersion, dispatcher, layoutMgr, listeningBoundsChildren, listeningChildren, maxSize, ncomponents, needsPaint, printing, printingThreads

Fields inherited from class java.awt.Component

accessibleContext, actionListenerK, adjustmentListenerK, appContext, background, BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, changeSupport, componentListener, componentListenerK, componentOrientation, componentSerializedDataVersion, containerListenerK, cursor, dropTarget, enabled, eventMask, focusListener, focusListenerK, font, foreground, graphicsConfig, hasFocus, height, hierarchyBoundsListener, hierarchyBoundsListenerK, hierarchyListener, hierarchyListenerK, incRate, inputMethodListener, inputMethodListenerK, isInc, isPacked, itemListenerK, keyListener, keyListenerK, LEFT_ALIGNMENT, locale, LOCK, metrics, minSize, mouseListener, mouseListenerK, mouseMotionListener, mouseMotionListenerK, name, nameExplicitlySet, newEventsOnly, ownedWindowK, parent, peer, peerFont, popups, prefSize, privateKey, RIGHT_ALIGNMENT, textListenerK, TOP_ALIGNMENT, valid, visible, width, windowClosingException, windowListenerK, x, y

Fields inherited from interface java.awt.image.ImageObserver

ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

Constructor Summary

HV()

Method Summary

boolean	action(java.awt.Event evt, java.lang.Object arg)
(package private) void	addObj(Graspable o)
java.applet.Applet	appletCast(java.lang.Object o)
Point3d[]	computeOpposition()
void	createGif()
void	createGif(java.lang.String fname)
boolean	doaction(java.lang.String arg)
void	domoreHV()
void	executeCommand(java.lang.String com)
void	exitHV()
java.awt.Frame	frameCast(java.lang.Object o)
void	generateData(double stepdeg)
void	generateRandomData(int count)
static java.lang.String	genInParName()
static java.lang.String	genOutName()
Graspable	getCurrentObject()
boolean	handleEvent(java.awt.Event evt)
boolean	IamApplet()
boolean	IamFrame()
void	init()
void	loadWeight()
static void	main(java.lang.String[] argv)
boolean	mouseDown(java.awt.Event evt, int x, int y)
boolean	mouseDrag(java.awt.Event evt, int x, int y)
boolean	mouseUp(java.awt.Event evt, int x, int y)
(package private) void	nextObject()
void	nslrun()
static void	prepareHV(HV already, java.lang.String[] argv)
boolean	reachDone()
void	recognize()
void	reportFinish(java.lang.String s)
void	reportStart(java.lang.String s)
(package private) void	setGrasp(java.lang.String s)
static java.lang.String	setInfo(java.lang.String s)
static void	setInfoReady()
(package private) void	setObject(int i)
(package private) void	setObject(java.lang.String s)
(package private) void	setObject(java.lang.String s, int i)
void	setTargetPosition(double x, double y, double z)
void	setTargetPosition(int x, int y, int z)
void	setTargetScale(double old, double newv)
void	setTrace(boolean b)
void	startBabble()
void	systemExec(java.lang.String what)
private boolean	toggleEnclose()
private boolean	toggleEyeMove(double x, double y, double z)
boolean	toggleGesture(java.lang.String s)
private boolean	toggleManualMatch()
void	toggleReach(java.lang.String s)
private boolean	toggleRealMatch()
void	toggleTrace()
void	transferInput(HandBP bp)
void	transferWeights(HandBP bp, double amp)
void	updatePositionBars(int x, int y, int z)
static void	updateRecBars(double prec, double side, double pow)
void	updateScrollValues()
void	waitFinish()

Methods inherited from class java.awt.Frame

, addNotify, addToFrameList, constructComponentName, finalize, getAccessibleContext, getCursorType, getFrames, getIconImage, getMenuBar, getState, getTitle, initIDs, isResizable, paramString, postProcessKeyEvent, readObject, remove, removeFromFrameList, removeNotify, setCursor, setIconImage, setMenuBar, setResizable, setState, setTitle, writeObject

Methods inherited from class java.awt.Window

addOwnedWindow, addWindowListener, adjustListeningChildren, applyResourceBundle, applyResourceBundle, checkNull, connectOwnedWindow, dispatchEventImpl, dispose, eventEnabled, getFocusOwner, getGraphicsConfiguration, getInputContext, getListeners, getLocale, getOwnedWindows, getOwner, getToolkit, getWarningString, hide, isActive, isShowing, nextFocus, ownedInit, pack, postEvent, postWindowEvent, preProcessKeyEvent, processEvent, processWindowEvent, removeOwnedWindow, removeWindowListener, resetGC, setCursor, setFocusOwner, setWarningString, show, toBack, toFront, transferFocus

Methods inherited from class java.awt.Container

add, add, add, add, add, addContainerListener, addImpl, applyOrientation, checkGD, countComponents, createChildHierarchyEvents, createHierarchyEvents, deliverEvent, dispatchEventToSelf, doLayout, findComponentAt, findComponentAt, findComponentAt, getAccessibleAt, getAccessibleChild, getAccessibleChildrenCount, getAlignmentX, getAlignmentY, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents_NoClientCode, getComponents, getInsets, getLayout, getMaximumSize, getMinimumSize, getMouseEventTarget, getPreferredSize, getWindow, insets, invalidate, invalidateTree, isAncestorOf, layout, lightweightPaint, lightweightPrint, list, list, locate, minimumSize, numListening, paint, paintComponents, paintHeavyweightComponents, postsOldMouseEvents, preferredSize, print, printComponents, printHeavyweightComponents, processContainerEvent, proxyEnableEvents, proxyRequestFocus, remove, remove, removeAll, removeContainerListener, setFont, setLayout, update, validate, validateTree

Methods inherited from class java.awt.Component

add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addPropertyChangeListener, addPropertyChangeListener, areInputMethodsEnabled, bounds, checkImage, checkImage, checkWindowClosingException, coalesceEvents, contains, contains, createImage, createImage, disable, disableEvents, dispatchEvent, enable, enable, enableEvents, enableInputMethods, firePropertyChange, getAccessibleIndexInParent, getAccessibleStateSet, getBackground, getBounds, getBounds, getColorModel, getComponentOrientation, getCursor, getDropTarget, getFont_NoClientCode, getFont, getFontMetrics, getForeground, getGraphics, getHeight, getInputMethodRequests, getLocation, getLocation, getLocationOnScreen_NoTreeLock, getLocationOnScreen, getName, getNativeContainer, getParent_NoClientCode, getParent, getPeer, getSize, getSize, getToolkitImpl, getTreeLock, getWidth, getWindowForObject, getX, getY, gotFocus, hasFocus, imageUpdate, inside, isDisplayable, isDoubleBuffered, isEnabled, isEnabledImpl, isFocusTraversable, isLightweight, isOpaque, isRecursivelyVisible, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseEnter, mouseExit, mouseMove, move, nextFocus, paintAll, prepareImage, prepareImage, printAll, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processKeyEvent, processMouseEvent, processMouseMotionEvent, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, repaint, requestFocus, reshape, resize, resize, setBackground, setBounds, setBounds, setComponentOrientation, setDropTarget, setEnabled, setForeground, setLocale, setLocation, setLocation, setName, setSize, setSize, setVisible, show, size, toString, transferFocus

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.awt.MenuContainer

getFont, postEvent

Field Detail

r

java.lang.Runtime r

p

java.lang.Process p

pout

java.io.DataOutputStream pout

rawpout

java.io.OutputStream rawpout

pin

java.io.DataInputStream pin

rawpin

java.io.InputStream rawpin

model

java.lang.String model

negativeExample

static boolean negativeExample

bellshape

static boolean bellshape

isApplet

static boolean isApplet

self

static HV self

RESfile

static java.lang.String RESfile

infoLabel

static java.awt.Label infoLabel

infoPanel

static java.awt.Panel infoPanel

cv

static HVCanvas cv

bp

HandBP bp

wsc

public java.awt.Scrollbar wsc

wscMAX

public int wscMAX

gest1

private Gesture1 gest1

newgest

public Gesture newgest

reach

public Reach reach

match1

private Match match1

eyemove

private EyeMove eyemove

mcirc

static Motor mcirc

rHand

public Hand rHand

obs

public Hand obs

gazeat

public Hand gazeat

goalL

public Segment[] goalL

goalLc

public int goalLc

scale

public java.awt.Scrollbar scale

xang

public java.awt.Scrollbar xang

yang

public java.awt.Scrollbar yang

zang

public java.awt.Scrollbar zang

objscale

public java.awt.Scrollbar objscale

rx

public int rx

ry

public int ry

rz

public int rz

sc

public int sc

objsc

public int objsc

object_scale_fix

public double object_scale_fix

U

public Point3d U

grasps

public static java.lang.String[] grasps

graspi

public static int graspi

maxgraspc

public static int maxgraspc

doubleBuffering

public static boolean doubleBuffering

recordCanvas

public static boolean recordCanvas

recordGraphs

public static boolean recordGraphs

recordSession

public static int recordSession

recordFrame

public static int recordFrame

gifBase

public static java.lang.String gifBase

LWrecordSession

public static int LWrecordSession

recordLW

public static boolean recordLW

DLEV

public static int DLEV

FANCY

public static int FANCY

breakRequest

public static boolean breakRequest

featfile

public java.lang.String featfile

SHOWSKEL

static final int SHOWSKEL

SHOWWIRE

static final int SHOWWIRE

SHOWHIDDEN

static final int SHOWHIDDEN

SHOWSOLID

static final int SHOWSOLID

SHOWSHADE

static final int SHOWSHADE

SHOWLSHADE

static final int SHOWLSHADE

LASTMODE

static final int LASTMODE

showmode

public int showmode

dispmodes

public java.lang.String[] dispmodes

showfeature

public static boolean showfeature

traceon

public static boolean traceon

pal

public static Palette pal

baseURL

public static java.net.URL baseURL

reachb

public static java.awt.Button reachb

speedtxt

public static java.awt.TextField speedtxt

weight

public static java.awt.TextField weight

timeconst

public static java.awt.TextField timeconst

comwin

public static java.awt.TextField comwin

commandb

public static java.awt.Button commandb

objlist

public Graspable[] objlist

objc

int objc

curobj

int curobj

tiltAngle

int tiltAngle

minPAR

static int minPAR

maxPAR

static int maxPAR

minMER

static int minMER

maxMER

static int maxMER

minRAD

static int minRAD

maxRAD

static int maxRAD

recbarReq

public static int recbarReq

precBar

public static double precBar

sideBar

public static double sideBar

powBar

public static double powBar

firsttimer

private boolean firsttimer

im1

private java.awt.Image im1

im2

private java.awt.Image im2

buf1

private java.awt.Image buf1

buf2

private java.awt.Image buf2

urltarget

private java.lang.String urltarget

oldy

int oldy

oldx

int oldx

datadir

static java.lang.String datadir

ingif_base

static java.lang.String ingif_base

outgif_base

static java.lang.String outgif_base

dataSession

static int dataSession

dataFrame

static int dataFrame

graphSession

static int graphSession

outFilec

static int outFilec

outFileBase

static java.lang.String outFileBase

inParFilec

static int inParFilec

inParFileBase

static java.lang.String inParFileBase

_reachDone

private boolean _reachDone

target

Point3d[] target

Constructor Detail

HV

public HV()

Method Detail

updateRecBars

public static void updateRecBars(double prec,
                                 double side,
                                 double pow)

setInfo

public static java.lang.String setInfo(java.lang.String s)

setInfoReady

public static void setInfoReady()

IamApplet

public boolean IamApplet()

IamFrame

public boolean IamFrame()

frameCast

public java.awt.Frame frameCast(java.lang.Object o)

appletCast

public java.applet.Applet appletCast(java.lang.Object o)

getCurrentObject

public Graspable getCurrentObject()

setTargetPosition

public void setTargetPosition(double x,
                              double y,
                              double z)

setTargetPosition

public void setTargetPosition(int x,
                              int y,
                              int z)

setTargetScale

public void setTargetScale(double old,
                           double newv)

updatePositionBars

public void updatePositionBars(int x,
                               int y,
                               int z)

domoreHV

public void domoreHV()

addObj

void addObj(Graspable o)

setObject

void setObject(java.lang.String s)

setObject

void setObject(int i)

setObject

void setObject(java.lang.String s,
               int i)

nextObject

void nextObject()

setGrasp

void setGrasp(java.lang.String s)

init

public void init()

prepareHV

public static void prepareHV(HV already,
                             java.lang.String[] argv)

main

public static void main(java.lang.String[] argv)

mouseUp

public boolean mouseUp(java.awt.Event evt,
                       int x,
                       int y)

Overrides:

mouseUp in class java.awt.Component

mouseDown

public boolean mouseDown(java.awt.Event evt,
                         int x,
                         int y)

Overrides:

mouseDown in class java.awt.Component

mouseDrag

public boolean mouseDrag(java.awt.Event evt,
                         int x,
                         int y)

Overrides:

mouseDrag in class java.awt.Component

updateScrollValues

public void updateScrollValues()

executeCommand

public void executeCommand(java.lang.String com)

createGif

public void createGif(java.lang.String fname)

createGif

public void createGif()

handleEvent

public boolean handleEvent(java.awt.Event evt)

Overrides:

handleEvent in class java.awt.Component

action

public boolean action(java.awt.Event evt,
                      java.lang.Object arg)

Overrides:

action in class java.awt.Component

systemExec

public void systemExec(java.lang.String what)

genOutName

public static java.lang.String genOutName()

genInParName

public static java.lang.String genInParName()

doaction

public boolean doaction(java.lang.String arg)

loadWeight

public void loadWeight()

recognize

public void recognize()

nslrun

public void nslrun()

transferInput

public void transferInput(HandBP bp)

transferWeights

public void transferWeights(HandBP bp,
                            double amp)

generateData

public void generateData(double stepdeg)

generateRandomData

public void generateRandomData(int count)

waitFinish

public void waitFinish()

reportFinish

public void reportFinish(java.lang.String s)

reportStart

public void reportStart(java.lang.String s)

reachDone

public boolean reachDone()

toggleTrace

public void toggleTrace()

setTrace

public void setTrace(boolean b)

computeOpposition

public Point3d[] computeOpposition()

startBabble

public void startBabble()

toggleReach

public void toggleReach(java.lang.String s)

toggleGesture

public boolean toggleGesture(java.lang.String s)

toggleEnclose

private boolean toggleEnclose()

toggleManualMatch

private boolean toggleManualMatch()

toggleRealMatch

private boolean toggleRealMatch()

toggleEyeMove

private boolean toggleEyeMove(double x,
                              double y,
                              double z)

exitHV

public void exitHV()