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Class EDU.gatech.cc.is.abstractrobot.ControlSystemS
java.lang.Object
|
+----EDU.gatech.cc.is.abstractrobot.ControlSystemS
- public class ControlSystemS
- extends Object
This is the superclass for all robot Control Systems.
When you create a contol system by extending this class,
it can run within JavaBotHard to control a real robot
or JavaBotSim in simulation.
Ordinarily this sort of class would be declared abstract.
But because robots and control systems must be instantiated on
the fly, this class had to be fully implemented.
Copyright
(c)1997, 1998 Tucker Balch
- Version:
- $Revision: 1.5 $
- Author:
- Tucker Balch
-
abstract_robot
- The robot to which the control system is attached.
-
CSSTAT_DONE
- Return value from TakeStep(), indicates the mission is complete.
-
CSSTAT_ERROR
- Return value from TakeStep(), indicates some sort of error condition
has occured.
-
CSSTAT_OK
- Return value from TakeStep(), indicates everything is OK.
-
seed
- The random number seed to use in configuration or whatever.
-
ControlSystemS()
- Constructor.
-
Configure()
- DEPRECATED, Use configure() instead.
Deprecated.
-
configure()
- Override this method if you like,
to configure your control system.
-
getAbstractRobot()
- Get a copy of the abstract robot object.
-
Init(Simple)
- DEPRECATED, use init() instead.
Deprecated.
-
init(Simple, long)
- Initialize the object.
-
quit()
- Called only once, at the end of the simulation or hard run.
-
TakeStep()
- DEPRECATED, Use takestep() instead.
Deprecated.
-
takeStep()
- Called every timestep to allow the control system to
run.
-
TrialEnd()
- DEPRECATED, Use trialEnd() instead.
Deprecated.
-
trialEnd()
- Called at the end of every trial.
-
TrialInit()
- DEPRECATED, Use trialInit() instead.
Deprecated.
-
trialInit()
- Called at the beginning of every trial.
CSSTAT_OK
public static final int CSSTAT_OK
- Return value from TakeStep(), indicates everything is OK.
CSSTAT_ERROR
public static final int CSSTAT_ERROR
- Return value from TakeStep(), indicates some sort of error condition
has occured.
CSSTAT_DONE
public static final int CSSTAT_DONE
- Return value from TakeStep(), indicates the mission is complete.
abstract_robot
public Simple abstract_robot
- The robot to which the control system is attached.
seed
public long seed
- The random number seed to use in configuration or whatever.
ControlSystemS
public ControlSystemS()
- Constructor. Don't override this method, use Configure instead.
Init
public void Init(Simple r)
- Note: Init() is deprecated.
to conform with Java naming conventions, use init().
- DEPRECATED, use init() instead.
Initialize the object. Don't override this method, use
Configure instead.
init
public void init(Simple r,
long s)
- Initialize the object. Don't override this method, use
Configure instead.
- Parameters:
- r - Simple, the robot hardware.
- s - long, random number seed.
Configure
public void Configure()
- Note: Configure() is deprecated.
to conform with Java naming conventions, use configure().
- DEPRECATED, Use configure() instead.
configure
public void configure()
- Override this method if you like,
to configure your control system.
getAbstractRobot
public Simple getAbstractRobot()
- Get a copy of the abstract robot object.
- Returns:
- the abstract robot object.
takeStep
public int takeStep()
- Called every timestep to allow the control system to
run. You should override this method for your control
system. Note: this is the proper name ("TakeStep" does
not comform to Java naming conventions).
TakeStep
public int TakeStep()
- Note: TakeStep() is deprecated.
to conform with Java naming conventions,
use takestep() instead.
- DEPRECATED, Use takestep() instead.
Called every timestep to allow the control system to
run. You should override this method for your control
system.
TrialInit
public void TrialInit()
- Note: TrialInit() is deprecated.
to conform with Java naming conventions,
use trialInit() instead.
- DEPRECATED, Use trialInit() instead.
Called at the beginning of every trial. You can
override this method to read configuration information from
a file or to reset variables.
trialInit
public void trialInit()
- Called at the beginning of every trial. You can
override this method to read configuration information from
a file or to reset variables.
TrialEnd
public void TrialEnd()
- Note: TrialEnd() is deprecated.
to conform with Java naming conventions,
use trialEnd() instead.
- DEPRECATED, Use trialEnd() instead.
Called at the end of every trial. You can
override this method to save configuration information to a
file or to reset variables.
trialEnd
public void trialEnd()
- Called at the end of every trial. You can
override this method to save configuration information to a
file or to reset variables.
quit
public void quit()
- Called only once, at the end of the simulation or hard run.
Override it to save log data to a file.
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