fr.cnes.sirius.patrius.assembly

Class Assembly

java.lang.Object

fr.cnes.sirius.patrius.assembly.Assembly

All Implemented Interfaces:

Serializable

public class Assembly
extends Object
implements Serializable

This class describes an assembly by all its sub parts.

This assembly shall be created and modified using the associated builder. Then user can access to each part by its name and get its properties. This assembly does not include the physical models : models shall be created in separated classes using this one.

Since:

1.1

Version:

$Id$

Author:

Thomas Trapier

See Also:

AssemblyBuilder, MainPart, Part, Serialized Form

Concurrency :

not thread-safe

Concurrency comment :

The use of a frame linked to the tree of frames in each of the parts makes this class not thread-safe.

Field Summary

Fields

Modifier and Type	Field and Description
static String	FRAME String Frame

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	Assembly() Assembly simple constructor.

Method Summary

Modifier and Type	Method and Description
void	addMainPart(MainPart part) Adds the main part to the assembly.
void	addPart(IPart part) Adds a part to the assembly.
Set<String>	getAllPartsNames() Gets the list of the name of the parts in the assembly (the main part is excluded).
MainPart	getMainPart()
IPart	getPart(String name) Returns the part whose name is specified.
Map<String,IPart>	getParts() Returns all the parts of the assembly.
void	initMainPartFrame(SpacecraftState state) Initialize the main part's frame using a SpacecraftState as an input argument.
void	initMainPartFrame(UpdatableFrame frame) Initialize the main part's frame using a UpdatableFrame as an input argument.
void	removePart(String partName) Removes a part from the assembly.
void	updateMainPartFrame(SpacecraftState state) Updates the main part frame's transformation to its parent frame using a Transform as an input argument.
void	updateMainPartFrame(Transform transform) Updates the main part frame's transformation to its parent frame using a Transform as an input argument.

Methods inherited from class java.lang.Object

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

Field Detail

FRAME

public static final String FRAME

String Frame

See Also:

Constant Field Values

Constructor Detail

Assembly

protected Assembly()

Assembly simple constructor. Shall be accessed only from the builder.

Method Detail

addPart

public final void addPart(IPart part)

Adds a part to the assembly.

Parameters:

part - the part to add to the assembly

Throws:

IllegalArgumentException - if a part with this name already exists or if the main part has not been created yet.

addMainPart

public final void addMainPart(MainPart part)

Adds the main part to the assembly.

Parameters:

part - the main part to add

Throws:

IllegalArgumentException - if the main part is already created

removePart

public final void removePart(String partName)

Removes a part from the assembly. All the children parts of the one removed will be removed too : they won't have no parent frame.

boolean hasMobileParts is not updated for simplicity (this situation is not common and is still perfectly valid).

Parameters:

partName - the name of the part to remove

Throws:

IllegalArgumentException - if no part has this name

getPart

public final IPart getPart(String name)

Returns the part whose name is specified.

Parameters:

name - the name of the part

Returns:

the part whose the name is specified

Throws:

IllegalArgumentException - if no part has this name

getMainPart

public final MainPart getMainPart()

Returns:

the main part

getParts

public final Map<String,IPart> getParts()

Returns all the parts of the assembly.

Returns:

the assembly parts

getAllPartsNames

public final Set<String> getAllPartsNames()

Gets the list of the name of the parts in the assembly (the main part is excluded).

Returns:

the list of the names of the parts

initMainPartFrame

public final void initMainPartFrame(UpdatableFrame frame)
                             throws PatriusException

Initialize the main part's frame using a UpdatableFrame as an input argument. This allows the user to link the entire assembly frame tree to the PATRIUS frames tree (if argument frame) is in the PATRIUS Frames tree (see FramesFactory). This method asks for an UpdatableFrame that will later allow to redefine its transformation.

Warning: the assembly should contain no mobile parts, otherwise call initMainPartFrame(SpacecraftState)

Parameters:

frame - the new main part's frame

Throws:

PatriusException - thrown if the assembly contains mobiles parts

initMainPartFrame

public final void initMainPartFrame(SpacecraftState state)
                             throws PatriusException

Initialize the main part's frame using a SpacecraftState as an input argument. The main part's parent frame is then the SpacecraftState's definition frame. This allows the user to link the entire assembly frame tree to the PATRIUS frames tree.

Parameters:

state - the SpacecraftState defining the position and orientation of the main part in its parent frame

Throws:

PatriusException - if no attitude is defined

updateMainPartFrame

public final void updateMainPartFrame(Transform transform)
                               throws PatriusException

Updates the main part frame's transformation to its parent frame using a Transform as an input argument.

It is assumed that user has already defined a UpdatableFrame for the main part (using initMainPartFrame(UpdatableFrame) or initMainPartFrame(SpacecraftState)). If that is not the case, an IllegalArgumentException is thrown.

Warning: the assembly should contain no mobile parts, otherwise call updateMainPartFrame(SpacecraftState)

Parameters:

transform - the Transform

Throws:

PatriusException - if a problem occurs during frames transformations

IllegalArgumentException - if the main frame has no parent yet

updateMainPartFrame

public final void updateMainPartFrame(SpacecraftState state)
                               throws PatriusException

Updates the main part frame's transformation to its parent frame using a Transform as an input argument.

It is assumed that user has already defined a UpdatableFrame for the main part (using initMainPartFrame(UpdatableFrame) or initMainPartFrame(SpacecraftState)). If that is not the case, an IllegalArgumentException is thrown.

Parameters:

state - the SpacecraftState

Throws:

PatriusException - if a problem occurs during frames transformations

IllegalArgumentException - if the main frame has no parent yet