Package gda.images.camera

Class SampleMovementServiceBase

java.lang.Object

gda.factory.FindableBase

gda.images.camera.SampleMovementServiceBase

All Implemented Interfaces:

Findable, SampleMovementService, org.springframework.beans.factory.InitializingBean

Direct Known Subclasses:

ScannableSampleMovementService

public abstract class SampleMovementServiceBase
extends FindableBase
implements SampleMovementService, org.springframework.beans.factory.InitializingBean

Base class for classes that implement SampleMovementService.

Constructor Summary

Constructors

Constructor	Description
SampleMovementServiceBase()

Method Summary

Modifier and Type	Method	Description
void	afterPropertiesSet()
protected double[]	doRotation(double h, double v, double b, double omega)
protected abstract double	getOmega()
protected abstract double[]	getPosition()	Returns the current position of the sample.
void	moveSampleByMicrons(double h, double v, double b)	Moves the sample in 'real-world' microns.
void	moveSampleByMicronsAlongBeamlineAxes(double x, double y, double z)	Moves the sample along the beamline's goniometer axes.
void	moveSampleByMicronsAlongStandardAxes(double h, double v, double b)	Moves the sample along the three standard goniometer axes.
void	setAxisOrientationMatrix(org.apache.commons.math.linear.RealMatrix axisOrientationMatrix)	Sets the beamline-specific axis orientation matrix, which is a 3×3 matrix that defines how the 'standard' axes map onto the beamline's axes.
void	setOmegaDirection(Utilities.OmegaDirection omegaDirection)
protected abstract void	setPosition(double[] position)	Sets the current position of the sample.

Methods inherited from class gda.factory.FindableBase

equals, getName, hashCode, setName

Methods inherited from class java.lang.Object

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

Methods inherited from interface gda.factory.Findable

getName, setName

Constructor Details

SampleMovementServiceBase

public SampleMovementServiceBase()

Method Details

setOmegaDirection

public void setOmegaDirection(Utilities.OmegaDirection omegaDirection)

setAxisOrientationMatrix

public void setAxisOrientationMatrix(org.apache.commons.math.linear.RealMatrix axisOrientationMatrix)

Sets the beamline-specific axis orientation matrix, which is a 3×3 matrix that defines how the 'standard' axes map onto the beamline's axes.

afterPropertiesSet

public void afterPropertiesSet()
                        throws Exception

Specified by:

afterPropertiesSet in interface org.springframework.beans.factory.InitializingBean

Throws:

Exception

moveSampleByMicrons

public void moveSampleByMicrons(double h,
 double v,
 double b)
                         throws DeviceException

Description copied from interface: SampleMovementService

Moves the sample in 'real-world' microns. When standing behind the goniometer, with the beam travelling right, H +ve is away from you, V +ve is vertically up, and B +ve is along the beam:

In this coordinate system, the B and V axes are not affected by any rotation of the goniometer; they are always orthogonal with respect to the H axis.

To calculate the required physical movement, this method will take into account the rotation of the goniometer. A movement along 'standard' goniometer axes will be calculated using the current value of ω (along with the direction in which the goniometer rotates for a +ve rotation of ω).

Specified by:

moveSampleByMicrons in interface SampleMovementService

Throws:

DeviceException

getOmega

protected abstract double getOmega()
                            throws DeviceException

Throws:

DeviceException

doRotation

protected double[] doRotation(double h,
 double v,
 double b,
 double omega)

moveSampleByMicronsAlongStandardAxes

public void moveSampleByMicronsAlongStandardAxes(double h,
 double v,
 double b)
                                          throws DeviceException

Description copied from interface: SampleMovementService

Moves the sample along the three standard goniometer axes. When standing behind the goniometer, with the beam travelling right, H +ve is away from you. The V and B axes are the axes that rotate as the goniometer rotates.

When ω = 0°, V +ve will be vertically up, and B +ve will be along the beam, as with 'real-world' coordinates:

As the goniometer rotates, the V and B axes also rotate. If the goniometer rotates anticlockwise for a +ve rotation of ω, then when ω = 90°:

A beamline-dependent movement will be calculated using the beamline's axis orientation matrix. This simply involves reorienting the three axes.

Specified by:

moveSampleByMicronsAlongStandardAxes in interface SampleMovementService

Throws:

DeviceException

moveSampleByMicronsAlongBeamlineAxes

public void moveSampleByMicronsAlongBeamlineAxes(double x,
 double y,
 double z)
                                          throws DeviceException

Description copied from interface: SampleMovementService

Moves the sample along the beamline's goniometer axes.

Specified by:

moveSampleByMicronsAlongBeamlineAxes in interface SampleMovementService

Throws:

DeviceException

getPosition

protected abstract double[] getPosition()
                                 throws DeviceException

Returns the current position of the sample.

Returns:

a 3-element double array

Throws:

DeviceException

setPosition

protected abstract void setPosition(double[] position)
                             throws DeviceException

Sets the current position of the sample.

Parameters:

position - a 3-element double array

Throws:

DeviceException