cube

Class Cube

java.lang.Object

cube.Cube

All Implemented Interfaces:

ICube

public class Cube
extends Object
implements ICube

This class represent the Rubik's cube itself as an object.
It has 6 objects of the type Face and a the Action suitable for every face.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	Cube.Face This class represents a face of the Rubik's cube An object of this class has an initial orientation which is final, a dynamic orientation which can change every transition, and a matrix of colors represent the colors on this face in the initial state.

Field Summary

Fields

Modifier and Type	Field and Description
private Action[]	actions
(package private) Colors[]	COLORS_ORDERERD_BY_HUE
protected Cube.Face[]	faces
private static Orientation[][]	ORIENTATION_MAT This is a static orientation matrix that represent the new position of every face whenever any face is brought to be at the bottom (DOWN orientation).

Constructor Summary

Constructors

Constructor and Description
Cube() Constructor of an object of the type Cube.

Method Summary

Methods

Modifier and Type	Method and Description
private void	calcAndSetColors(ArrayList<RawColor> allColors) Place all scanned colors on the cube, fix red/orange corners and print result to logger
private void	changePosition(FlipMethod cubeFlips, Direction direction, Orientation orientation) Move the face from its current orientation to the bottom (to be the DOWN face).
Cube.Face	getFace(Orientation orientation) returns the face which is currently in the orientation requested
private void	printCubeColorsToLogger() Print all cube's colors to logger
void	setColors() Scan and set the cube colors
void	setColorsManual(Colors[][] up, Colors[][] down, Colors[][] front, Colors[][] back, Colors[][] left, Colors[][] right) Set the colors of every face of the cube manually
private void	setNonWhitesByHue(ArrayList<RawColor> allColors) Place all non-white colors on the cube according to their Hue value
private void	setWhitesByDistance(ArrayList<RawColor> allColors) Place all white colors on the cube according to their distance from the calibrated white RGB
(package private) void	updateOrientations(Orientation orientation) Updates the new orientations of the faces after a transition of the cube.
static Boolean	validateCubeSolution() Validate correct solution for cube

Methods inherited from class java.lang.Object

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

Field Detail

faces

protected Cube.Face[] faces

actions

private Action[] actions

ORIENTATION_MAT

private static final Orientation[][] ORIENTATION_MAT

This is a static orientation matrix that represent the new position of every face
whenever any face is brought to be at the bottom (DOWN orientation).
The faces are listed in the following order:
0- Up, 1- Right, 2- Front, 3- Down, 4- Left, 5- Back
Example of use:
Suppose we need to bring the current FRONT face to the bottom (to be the DOWN face),
in order to know how this action affects the other faces, we should go to the 2nd row of
the matrix (as listed above: 2- FRONT), and we will have the new positions of the other faces:
position 0 has the value L -> indicates that the UP face (0 = UP) becomes the LEFT face.
position 1 has the value F -> indicates that the RIGHT face (1 = RIGHT) becomes the FRONT face, etc.
in conclusion we got these transforms: U->L , R->F , F->D , D->R, L->B , B->U
this matrix help us to determine the positions of the faces in any transition.

COLORS_ORDERERD_BY_HUE

Colors[] COLORS_ORDERERD_BY_HUE

Constructor Detail

Cube

public Cube()

Constructor of an object of the type Cube.
It initializes the faces with all the orientations, and initializes the table of actions.
Table of actions: represents the actions needed to do in order to bring some face to
the bottom (to be the DOWN face).
Example: in order to bring the FRONT face to the bottom,
we have to rotate it to the left, and then perform a flip.
This action is stored on the actions array at position 2 (2 = FRONT)

Method Detail

getFace

public Cube.Face getFace(Orientation orientation)

returns the face which is currently in the orientation requested

Specified by:

getFace in interface ICube

Parameters:

orientation - The dynamic orientation, the face that currently in this orientation

updateOrientations

void updateOrientations(Orientation orientation)

Updates the new orientations of the faces after a transition of the cube.
It uses the static matrix ORIENTATION_MAT in order to get the new orientations.

Parameters:

orientation - The current orientation of the face we bring to the bottom (to be the DOWN face)

changePosition

private void changePosition(FlipMethod cubeFlips,
                  Direction direction,
                  Orientation orientation)

Move the face from its current orientation to the bottom (to be the DOWN face).

Parameters:

cubeFlips - The number of flips the robot should perform

direction - The direction the robot should rotate the cube

orientation - The orientation of the face that goes to the bottom (to be the DOWN face)

setColors

public void setColors()

Scan and set the cube colors

The method is first to scan all of the cube's colors in RGB mode, and calculate their HSV representation as well as their distance from the calibrated white RGB.
Second, sort all the colors by their white distance (since white doesn't have meaningful Hue value), and place them on the cube.
Last, sort all the colors by their Hue value and place them on the cube according to their Hue value.

Specified by:

setColors in interface ICube

setWhitesByDistance

private void setWhitesByDistance(ArrayList<RawColor> allColors)

Place all white colors on the cube according to their distance from the calibrated white RGB

Parameters:

allColors - All scanned colors

See Also:

setColors()

setNonWhitesByHue

private void setNonWhitesByHue(ArrayList<RawColor> allColors)

Place all non-white colors on the cube according to their Hue value

Parameters:

allColors - All scanned colors

See Also:

setColors()

calcAndSetColors

private void calcAndSetColors(ArrayList<RawColor> allColors)

Place all scanned colors on the cube, fix red/orange corners and print result to logger

Parameters:

allColors - All scanned colors

printCubeColorsToLogger

private void printCubeColorsToLogger()

Print all cube's colors to logger

setColorsManual

public void setColorsManual(Colors[][] up,
                   Colors[][] down,
                   Colors[][] front,
                   Colors[][] back,
                   Colors[][] left,
                   Colors[][] right)

Set the colors of every face of the cube manually

Specified by:

setColorsManual in interface ICube

Parameters:

up - A matrix of colors represents the UP face

down - A matrix of colors represents the DOWN face

front - A matrix of colors represents the FRONT face

back - A matrix of colors represents the BACK face

left - A matrix of colors represents the LEFT face

right - A matrix of colors represents the RIGHT face

validateCubeSolution

public static Boolean validateCubeSolution()

Validate correct solution for cube

Returns:

True iff cube solved correctly