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Class EDU.gatech.cc.is.abstractrobot.SimpleN150Sim
java.lang.Object
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+----EDU.gatech.cc.is.abstractrobot.Simple
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+----EDU.gatech.cc.is.abstractrobot.SimpleN150Sim
- public class SimpleN150Sim
- extends Simple
- implements SimpleN150, SimulatedObject
SimpleN150Sim implements SimpleN150 for simulation.
Also includes code implementing communication, gripper and
vision.
Copyright
(c)1998 Tucker Balch
- Version:
- $Revision: 1.3 $
- Author:
- Tucker Balch
- See Also:
- SimpleN150
-
DEBUG
-
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SimpleN150Sim()
- Instantiate a SimpleN150Sim object.
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broadcast(Message)
-
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clearTrail()
- Clear the trail.
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connected()
-
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draw(Graphics, int, int, double, double, double, double)
- Draw the robot.
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draw(Vec2, Graphics, int, int, double, double, double, double)
- Draw the robot in a specific spot.
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drawID(Graphics, int, int, double, double, double, double)
- Draw the robot's ID.
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drawState(Graphics, int, int, double, double, double, double)
- Draw the robot's state.
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drawTrail(Graphics, int, int, double, double, double, double)
- Draw the robot's Trail.
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getCenter(Vec2)
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getClosestPoint(Vec2)
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getObjectInGripper(long)
- Get the kind of object in the gripper.
-
getObstacles(long)
- Get an array of Vec2s that point egocentrically from the
center of the robot to the obstacles currently sensed by the
bumpers and sonars.
-
getOpponents(long)
- Get an array of Vec2s that point egocentrically from the
center of the robot to the opponents currently sensed by the
robot
-
getPlayerNumber(long)
- Return an int represting the player's ID on the team.
-
getPosition()
- Get the position of the robot in global coordinates.
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getPosition(long)
- Get the position of the robot in global coordinates.
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getReceiveChannel()
-
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getSteerHeading(long)
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getTeammates(long)
- Get an array of Vec2s that point egocentrically from the
center of the robot to the teammates currently sensed by the
robot.
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getTime()
- Gets time elapsed since the robot was instantiated.
-
getTurretHeading(long)
-
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getVisionClass()
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getVisualAxes(long, int)
- NOT IMPLEMENTED:
Get an array of doubles that represent the
major axis orientation of the visually sensed objects.
-
getVisualObjects(long, int)
- Get an array of Vec2s that represent the
locations of visually sensed objects egocentrically
from center of the robot to the objects currently sensed by the
vision system.
-
getVisualSizes(long, int)
- NOT IMPLEMENTED:
Get an array of doubles that represent an estimate of the
size in square meters of the visually sensed objects.
-
init(double, double, double, double, Color, Color, int, int, long)
- Initialize a SimpleN150Sim object.
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isObstacle()
-
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isPickupable()
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isPushable()
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multicast(int[], Message)
-
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pickUp(SimulatedObject)
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push(Vec2, Vec2)
-
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putDown(Vec2)
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quit()
- Clean up.
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receive(Message)
-
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resetPosition(Vec2)
- Reset the odometry of the robot in global coordinates.
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resetSteerHeading(double)
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resetTurretHeading(double)
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setBaseSpeed(double)
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setCommunicationMaxRange(double)
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setDisplayString(String)
- Set the String that is printed on the robot's display.
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setGripperFingers(long, double)
- 0 closed 1 open.
-
setGripperHeight(long, double)
- NOT IMPLEMENTED
-
setKinMaxRange(double)
- Set the maximum range at which a sensor reading should be considered
kin.
-
setObstacleMaxRange(double)
- Set the maximum range at which a sensor reading should be considered
an obstacle.
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setSpeed(long, double)
-
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setSteerHeading(long, double)
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setTrailLength(int)
- Set the length of the trail (in movement steps).
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setTurretHeading(long, double)
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setVisionClass(int)
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takeStep(long, SimulatedObject[])
- Take a simulated step;
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unicast(int, Message)
-
DEBUG
public static final boolean DEBUG
SimpleN150Sim
public SimpleN150Sim()
- Instantiate a SimpleN150Sim object. Be sure
to also call init with proper values.
- See Also:
- init
init
public void init(double xp,
double yp,
double tp,
double ignore,
Color f,
Color b,
int v,
int i,
long s)
- Initialize a SimpleN150Sim object.
takeStep
public void takeStep(long time_increment,
SimulatedObject all_objs[])
- Take a simulated step;
isObstacle
public boolean isObstacle()
isPushable
public boolean isPushable()
isPickupable
public boolean isPickupable()
getClosestPoint
public Vec2 getClosestPoint(Vec2 from)
getCenter
public Vec2 getCenter(Vec2 from)
push
public void push(Vec2 d,
Vec2 v)
pickUp
public void pickUp(SimulatedObject o)
putDown
public void putDown(Vec2 p)
setVisionClass
public void setVisionClass(int v)
getVisionClass
public int getVisionClass()
drawID
public void drawID(Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
- Draw the robot's ID.
drawTrail
public void drawTrail(Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
- Draw the robot's Trail.
setDisplayString
public void setDisplayString(String s)
- Set the String that is printed on the robot's display.
For simulated robots, this appears printed below the agent
when view "Robot State" is selected.
- Parameters:
- s - String, the text to display.
- Overrides:
- setDisplayString in class Simple
drawState
public void drawState(Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
- Draw the robot's state.
setTrailLength
public void setTrailLength(int l)
- Set the length of the trail (in movement steps).
- Parameters:
- l - int, the length of the trail.
clearTrail
public void clearTrail()
- Clear the trail.
draw
public void draw(Vec2 pos,
Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
- Draw the robot in a specific spot.
draw
public void draw(Graphics g,
int w,
int h,
double t,
double b,
double l,
double r)
- Draw the robot.
quit
public void quit()
- Clean up.
- Overrides:
- quit in class Simple
getTime
public long getTime()
- Gets time elapsed since the robot was instantiated.
Since this is simulation, it may not match real elapsed time.
- Overrides:
- getTime in class Simple
getObstacles
public Vec2[] getObstacles(long timestamp)
- Get an array of Vec2s that point egocentrically from the
center of the robot to the obstacles currently sensed by the
bumpers and sonars.
- Parameters:
- timestamp - only get new information
if timestamp > than last call or timestamp == -1 .
- Returns:
- the sensed obstacles.
- Overrides:
- getObstacles in class Simple
setObstacleMaxRange
public void setObstacleMaxRange(double range)
- Set the maximum range at which a sensor reading should be considered
an obstacle. Beyond this range, the readings are ignored.
The default range on startup is 1 meter.
- Parameters:
- range - the range in meters.
- Overrides:
- setObstacleMaxRange in class Simple
getVisualObjects
public Vec2[] getVisualObjects(long timestamp,
int channel)
- Get an array of Vec2s that represent the
locations of visually sensed objects egocentrically
from center of the robot to the objects currently sensed by the
vision system.
- Parameters:
- timestamp - only get new information
if timestamp > than last call or timestamp == -1 .
- channel - (1-6) which type/color of object to retrieve.
- Returns:
- the sensed objects.
getVisualSizes
public double[] getVisualSizes(long timestamp,
int channel)
- NOT IMPLEMENTED:
Get an array of doubles that represent an estimate of the
size in square meters of the visually sensed objects.
- Parameters:
- timestamp - only get new information if
timestamp > than last call or timestamp == -1 .
- channel - (1-6) which type/color of object to retrieve.
- Returns:
- the sizes of the sensed objects.
getVisualAxes
public double[] getVisualAxes(long timestamp,
int channel)
- NOT IMPLEMENTED:
Get an array of doubles that represent the
major axis orientation of the visually sensed objects.
0 and PI are horizontal, PI/2 is vertical.
- Parameters:
- timestamp - only get new information
if timestamp > than last call or timestamp == -1 .
- channel - (1-6) which type/color of object to retrieve.
- Returns:
- the major axes of the sensed objects.
getObjectInGripper
public int getObjectInGripper(long timestamp)
- Get the kind of object in the gripper.
- Parameters:
- timestamp - only get new information
if timestamp > than last call or timestamp == -1 .
- Returns:
- channel (1-6) which type/color of
object in the gripper, 0 otherwise.
getPosition
public Vec2 getPosition(long timestamp)
- Get the position of the robot in global coordinates.
- Parameters:
- timestamp - only get new information
if timestamp > than last call or timestamp == -1.
- Returns:
- the position.
- Overrides:
- getPosition in class Simple
getPosition
public Vec2 getPosition()
- Get the position of the robot in global coordinates.
- Returns:
- the position.
resetPosition
public void resetPosition(Vec2 posit)
- Reset the odometry of the robot in global coordinates.
This might be done when reliable sensor information provides
a very good estimate of the robot's location, or if you
are starting the robot in a known location other than (0,0).
Do this only if you are certain you're right!
- Parameters:
- position - the new position.
- Overrides:
- resetPosition in class Simple
getSteerHeading
public double getSteerHeading(long timestamp)
- Overrides:
- getSteerHeading in class Simple
resetSteerHeading
public void resetSteerHeading(double heading)
- Overrides:
- resetSteerHeading in class Simple
setSteerHeading
public void setSteerHeading(long timestamp,
double heading)
- Overrides:
- setSteerHeading in class Simple
getTurretHeading
public double getTurretHeading(long timestamp)
resetTurretHeading
public void resetTurretHeading(double heading)
setTurretHeading
public void setTurretHeading(long timestamp,
double heading)
setSpeed
public void setSpeed(long timestamp,
double speed)
- Overrides:
- setSpeed in class Simple
setBaseSpeed
public void setBaseSpeed(double speed)
- Overrides:
- setBaseSpeed in class Simple
setGripperFingers
public void setGripperFingers(long timestamp,
double grip)
- 0 closed 1 open. -1 trigger mode.
getOpponents
public Vec2[] getOpponents(long timestamp)
- Get an array of Vec2s that point egocentrically from the
center of the robot to the opponents currently sensed by the
robot
- Parameters:
- timestamp - only get new information if
timestamp > than last call or timestamp == -1 .
- Returns:
- the sensed Opponents.
getPlayerNumber
public int getPlayerNumber(long timestamp)
- Return an int represting the player's ID on the team.
This value may not be valid if the simulation has not
been "set up" yet. Do not use it during initialization.
- Parameters:
- timestamp - only get new information if
timestamp > than last call or timestamp == -1 .
- Returns:
- the number.
getTeammates
public Vec2[] getTeammates(long timestamp)
- Get an array of Vec2s that point egocentrically from the
center of the robot to the teammates currently sensed by the
robot.
- Parameters:
- timestamp - only get new information if
timestamp > than last call or timestamp == -1 .
- Returns:
- the sensed teammates.
setKinMaxRange
public void setKinMaxRange(double range)
- Set the maximum range at which a sensor reading should be considered
kin. Beyond this range, the readings are ignored.
Also used by opponent sensor.
The default range on startup is 1 meter.
- Parameters:
- range - the range in meters.
setGripperHeight
public void setGripperHeight(long timestamp,
double position)
- NOT IMPLEMENTED
multicast
public void multicast(int ids[],
Message m) throws CommunicationException
broadcast
public void broadcast(Message m)
unicast
public void unicast(int id,
Message m) throws CommunicationException
getReceiveChannel
public Enumeration getReceiveChannel()
setCommunicationMaxRange
public void setCommunicationMaxRange(double m)
receive
public void receive(Message m)
connected
public boolean connected()
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