public interface IMotorModule extends IPerceptualModule, IParameterized
Modifier and Type | Field and Description |
---|---|
static java.lang.String |
ABORT_CHUNK_TYPE |
static java.lang.String |
ABORTING_CHUNK |
static java.lang.String |
MOVEMENT_CHUNK_TYPE |
static java.lang.String |
MUSCLE_SLOT |
GREATER_THAN_CURRENT_CHUNK, HIGHEST_CHUNK, LESS_THAN_CURRENT_CHUNK, LOWEST_CHUNK
STRICT_SYNCHRONIZATION_PARAM
Modifier and Type | Method and Description |
---|---|
java.util.concurrent.Future<IMovement> |
abort(IMovement movement,
double requestTime) |
void |
addListener(IMotorModuleListener listener,
java.util.concurrent.Executor executor) |
java.util.concurrent.Future<IMovement> |
adjust(IMovement movement,
ChunkTypeRequest request,
double requestTime) |
boolean |
canAbort(ChunkTypeRequest request) |
boolean |
canAbort(IMovement movement) |
boolean |
canAdjust(ChunkTypeRequest request) |
boolean |
canAdjust(IMovement movement) |
boolean |
canExecute(ChunkTypeRequest pattern) |
boolean |
canPrepare(ChunkTypeRequest pattern)
return true if we could prepare this motor command
|
void |
dispatch(MotorModuleEvent event) |
java.util.concurrent.Future<IMovement> |
execute(IMovement movement,
double requestTime)
execute a motor movement.
|
IChunkType |
getAbortChunkType() |
IMotorActivationBuffer |
getBuffer() |
MotorCommandManager |
getCommandManager() |
ICommandTranslator |
getCommandTranslator()
responsible code snippet that translates
ChunkPattern s into
IEfferentCommand s |
IMovement |
getLastMovement(IIdentifier muscle)
returns the most recently prepared movement for the given muscle
|
IChunkType |
getMovementChunkType()
the root movement type chunk
|
MuscleStateManager |
getMuscleManager()
tracker and manager of muscle info
|
IMotorTimeEquation |
getPreparationTimeEquation()
the
IMotorTimeEquation that determines how long the preparation
of a motor movement lasts |
IMotorTimeEquation |
getProcessingTimeEquation()
the
IMotorTimeEquation that determines how much time is spent
processing the movement. |
boolean |
hasListeners() |
java.util.concurrent.Future<IMovement> |
prepare(ChunkTypeRequest pattern,
double requestTime,
boolean prepareOnly)
prepare a motor movement.
|
void |
removeListener(IMotorModuleListener listener) |
void |
reset()
reset the motor system.
|
void |
reset(boolean stopActiveMovements)
reset all the muscles that are in error and optionally stop all active
movements too.
|
void |
reset(java.lang.String muscle)
reset the state of a single muscle
|
getCommonRealityExecutor, getSymbolGrounder, setSymbolGrounder
getExecutor, isStrictSynchronizationEnabled, setStrictSynchronizationEnabled, synchronizedTimedEvent
dispose, getModel, getName, initialize, install
uninstall
getAdapter
getParameter, getPossibleParameters, getSetableParameters, setParameter
static final java.lang.String MOVEMENT_CHUNK_TYPE
static final java.lang.String ABORT_CHUNK_TYPE
static final java.lang.String MUSCLE_SLOT
static final java.lang.String ABORTING_CHUNK
IChunkType getMovementChunkType()
IChunkType getAbortChunkType()
IMotorTimeEquation getProcessingTimeEquation()
IMotorTimeEquation
that determines how much time is spent
processing the movement. Actual equation times are determined by
individual IEfferentCommandTranslator
s.IMotorTimeEquation getPreparationTimeEquation()
IMotorTimeEquation
that determines how long the preparation
of a motor movement lastsIMovement getLastMovement(IIdentifier muscle)
muscle
- if null, return the last movement regardless of the muscleICommandTranslator getCommandTranslator()
ChunkPattern
s into
IEfferentCommand
sMuscleStateManager getMuscleManager()
MotorCommandManager getCommandManager()
boolean canPrepare(ChunkTypeRequest pattern)
pattern
- java.util.concurrent.Future<IMovement> prepare(ChunkTypeRequest pattern, double requestTime, boolean prepareOnly)
IEfferentCommand
with common realitypattern
- boolean canExecute(ChunkTypeRequest pattern)
java.util.concurrent.Future<IMovement> execute(IMovement movement, double requestTime)
movement
- boolean canAbort(ChunkTypeRequest request)
boolean canAbort(IMovement movement)
boolean canAdjust(ChunkTypeRequest request)
boolean canAdjust(IMovement movement)
java.util.concurrent.Future<IMovement> adjust(IMovement movement, ChunkTypeRequest request, double requestTime)
IMotorActivationBuffer getBuffer()
void reset()
void reset(boolean stopActiveMovements)
stopActiveMovements
- void reset(java.lang.String muscle)
muscle
- void addListener(IMotorModuleListener listener, java.util.concurrent.Executor executor)
void removeListener(IMotorModuleListener listener)
boolean hasListeners()
void dispatch(MotorModuleEvent event)