kaos.robots.activmedia
Class KAoSAriaCamera

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.ExecutionManager
          kaos.robots.activmedia.KAoSAriaRobot
              kaos.robots.activmedia.KAoSAriaSonar
                  kaos.robots.activmedia.KAoSAriaCamera

All Implemented Interfaces:

KAoSObservable, KAoSObserver, ObserverManager, HashMapRequestReceiver, OWLRequestReceiver, CommRelay, MobileRobot, PanTiltBase, Sonar, Zoomable

Direct Known Subclasses:

KAoSAriaLaserAndCamera

public class KAoSAriaCamera
extends KAoSAriaSonar
implements Zoomable, PanTiltBase

Nested Class Summary

protected static class

KAoSAriaCamera.MONITORING_STATUS

Nested classes/interfaces inherited from class kaos.robots.core.ExecutionManager

ExecutionManager.RequestHandlerThread

Field Summary

AriaCamera	camera
protected KAoSAriaCamera.MONITORING_STATUS	CURRENT_MONITORING_STATUS
protected boolean	TRACKING_MOTION_WITH_CAMERA

Fields inherited from class kaos.robots.activmedia.KAoSAriaSonar

sonar

Fields inherited from class kaos.robots.activmedia.KAoSAriaRobot

robot

Fields inherited from class kaos.robots.core.ExecutionManager

_actorID, _agentDescription, _classificationListeners, _connected, _currentActions, _enablingClasses, _enforcer, _ihmcDomain, _kaosEnabled, _learnedTasks, _learnedTaskVariables, _learning, _listeners, _logger, _nickName, _policyAdvice, _policyService, _query, _registeredWithKAoS, _registration, _reniaCallback, _spatialReasoning, _subtasks, _taskName, _transportName, myTeam

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_helper, _mts, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Constructor Summary

KAoSAriaCamera()

Method Summary

void	Center(java.util.HashMap properties) CenterPanTilt
protected void	createRobot(java.lang.String[] args)
CameraPose	GetCameraPose(java.util.HashMap properties)
java.lang.Double	GetMaxZoom() GetMaxZoom
java.lang.Double	GetPan() GetPan
Pose	GetPanTiltPose() GetPanTiltPose
java.lang.Double	GetTilt() GetTilt
java.lang.Double	GetZoom() GetZoom
void	init(java.lang.String[] args)
boolean	isTrackingMotion()
static void	main(java.lang.String[] args)
void	Pan(java.util.HashMap properties) Pan
void	PanPTZCamera(java.util.HashMap properties)
void	Search(java.util.HashMap properties)
void	SecureBoundary(java.util.HashMap properties)
void	SetPan(java.util.HashMap properties) SetPan
void	SetPanTiltPose(java.util.HashMap properties) SetPanTiltPose
void	SetTilt(java.util.HashMap properties) SetTilt
void	SetZoom(java.util.HashMap properties) SetZoom
void	StartMonitoring(java.util.HashMap properties)
void	StartMonitoringForMotion(java.util.HashMap properties)
void	StartMonitoringWithCamera(java.util.HashMap properties)
void	StopMonitoring(java.util.HashMap properties)
void	StopMonitoringForMotion(java.util.HashMap properties)
void	StopMonitoringWithCamera(java.util.HashMap properties)
void	Tilt(java.util.HashMap properties) Tilt
void	TiltPTZCamera(java.util.HashMap properties)
void	Zoom(java.util.HashMap properties) Zoom required key hasDirection values in | out optional key hasValue values amount to zoom relative to current setting | [default 20%]

Methods inherited from class kaos.robots.activmedia.KAoSAriaSonar

GetMaximumEffectiveSonarRange, GetNumberOfSonarSensors, GetSonarRange, GetSonarReading, GetSonarReadings, SetMaxEffectiveSonarRange, StartFollowing, StopFollowing

Methods inherited from class kaos.robots.activmedia.KAoSAriaRobot

Beep, CommRelayMoveTo, CommRelayStop, FailCamera, FailLaser, FailSonar, Failure, FoundTarget, GetCoordinate, getID, GetMaxTranslationalVelocity, GetNamedLocationCoordinate, GetNamedLocations, GetPose, getPropertyValue, getQualitativeFromPropertyValue, getQuantitativeFromPropertyValue, getValueFromProperties, IsMoving, isRateQuantitativeValue, IsTurning, LostTarget, MonitorBoundary, Move, MoveDistance, NameCurrentLocation, NameSpecifiedLocation, registerKAoSExtensionComponentObserver, RestoreCamera, RestoreLaser, RestoreSonar, SearchDistance, SetMaxTranslationalVelocity, setOrigin, SetRelativeRotationalVelocity, SetRelativeTranslationalVelocity, SetRotationalVelocity, SetTranslationalVelocity, shutdown, SlowDown, SpeedUp, statusChange, Stop, Turn, TurnRelative, TurnTo, update

Methods inherited from class kaos.robots.core.ExecutionManager

AssignLeader, buildAID, checkObligations, checkPermissionForAction, createMyOwnAgentDescription, deregisterObserver, deregisterObserver, deregisterObserver, executeLearnedAction, getActions, getActorID, getAdjustedMoveToActions, getAgentCapabilities, getAgentDescription, getCoordinateFromPointInstance, GetLeadersOfTeam, getPropertiesFromAID, getRestrictedAreas, GetTeamMembers, getTeamMembers, isRegisteredWithKAoS, isWithinRestrictedArea, JoinTeam, LeaveTeam, makeActionAllowable, modifySpatialProperties, notify, printDebugString, processAIDRequest, processHashMapRequest, processHashMapRequest, processHashMapRequest, processHashMapRequest, processOWLRequest, processOWLRequest, registerObserver, registerObserver, registerObserver, registerObserver, registerWithKAoS, registerWithSpatialProperties, searchForAgentDescription, setRegisteredWithKAoS, startLearning, stopLearning, UnassignLeader

Methods inherited from class kaos.core.util.MethodCallRequestHandler

bindToTransport, handleMsgContent, handleObjContent, initialize, receiveMessage

Methods inherited from class java.lang.Object

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

Field Detail

camera

public AriaCamera camera

TRACKING_MOTION_WITH_CAMERA

protected boolean TRACKING_MOTION_WITH_CAMERA

CURRENT_MONITORING_STATUS

protected KAoSAriaCamera.MONITORING_STATUS CURRENT_MONITORING_STATUS

Constructor Detail

KAoSAriaCamera

public KAoSAriaCamera()
               throws AbortActionException

Throws:

AbortActionException

Method Detail

createRobot

protected void createRobot(java.lang.String[] args)

Overrides:

createRobot in class KAoSAriaSonar

init

public void init(java.lang.String[] args)

Overrides:

init in class KAoSAriaSonar

StartMonitoring

public void StartMonitoring(java.util.HashMap properties)
                     throws java.lang.Exception

Throws:

java.lang.Exception

StopMonitoring

public void StopMonitoring(java.util.HashMap properties)

StartMonitoringForMotion

public void StartMonitoringForMotion(java.util.HashMap properties)

StopMonitoringForMotion

public void StopMonitoringForMotion(java.util.HashMap properties)

StartMonitoringWithCamera

public void StartMonitoringWithCamera(java.util.HashMap properties)

StopMonitoringWithCamera

public void StopMonitoringWithCamera(java.util.HashMap properties)

isTrackingMotion

public boolean isTrackingMotion()

Zoom

public void Zoom(java.util.HashMap properties)
          throws java.lang.Exception

Zoom required key hasDirection values in | out optional key hasValue values amount to zoom relative to current setting | [default 20%]

Specified by:

Zoom in interface Zoomable

Throws:

java.lang.Exception

SetZoom

public void SetZoom(java.util.HashMap properties)
             throws java.lang.Exception

SetZoom

Parameters:

properties - HashMap of properties required key hasPercent values Double [0-1] indicating percentage

Throws:

java.lang.Exception

GetZoom

public java.lang.Double GetZoom()
                         throws java.lang.Exception

GetZoom

Specified by:

GetZoom in interface Zoomable

Returns:

double [0-1] indicating current zoom percentage

Throws:

java.lang.Exception

GetMaxZoom

public java.lang.Double GetMaxZoom()
                            throws java.lang.Exception

GetMaxZoom

Specified by:

GetMaxZoom in interface Zoomable

Returns:

int indicating the maximum zoom

Throws:

java.lang.Exception

PanPTZCamera

public void PanPTZCamera(java.util.HashMap properties)

TiltPTZCamera

public void TiltPTZCamera(java.util.HashMap properties)

Pan

public void Pan(java.util.HashMap properties)
         throws java.lang.Exception

Pan

Specified by:

Pan in interface PanTiltBase

Parameters:

properties - HashMap of properties required key hasDirection values left|right optional key hasDegrees values number of degrees to pan relative to current angle | [default 20 degrees]

Throws:

java.lang.Exception

SetPan

public void SetPan(java.util.HashMap properties)
            throws java.lang.Exception

SetPan

Specified by:

SetPan in interface PanTiltBase

Parameters:

properties - HashMap of properties required key hasPercent values percent of degrees to pan absolute from center OR key hasDegrees values number of degrees to pan absolute from center

Throws:

java.lang.Exception

Tilt

public void Tilt(java.util.HashMap properties)
          throws java.lang.Exception

Tilt

Specified by:

Tilt in interface PanTiltBase

Parameters:

properties - HashMap of properties required key hasDirection values up|down optional key hasDegrees values number of degrees to pan relative to current angle | [default 20 degrees]

Throws:

java.lang.Exception

SetTilt

public void SetTilt(java.util.HashMap properties)
             throws java.lang.Exception

SetTilt

Specified by:

SetTilt in interface PanTiltBase

Parameters:

properties - HashMap of properties required key hasPercent values percent of degrees to pan absolute from center OR key hasDegrees values number of degrees to pan absolute from center

Throws:

java.lang.Exception

SetPanTiltPose

public void SetPanTiltPose(java.util.HashMap properties)
                    throws java.lang.Exception

SetPanTiltPose

Specified by:

SetPanTiltPose in interface PanTiltBase

Parameters:

properties - HashMap of properties required key hasPose values Pose with pan (Yaw) and tilt (pitch) in absolute degrees

Throws:

java.lang.Exception

GetCameraPose

public CameraPose GetCameraPose(java.util.HashMap properties)

GetPan

public java.lang.Double GetPan()
                        throws java.lang.Exception

GetPan

Specified by:

GetPan in interface PanTiltBase

Returns:

Double pan angle in absolute degrees

Throws:

java.lang.Exception

GetTilt

public java.lang.Double GetTilt()
                         throws java.lang.Exception

GetTilt

Specified by:

GetTilt in interface PanTiltBase

Returns:

Double tilt angle in absolute degrees

Throws:

java.lang.Exception

GetPanTiltPose

public Pose GetPanTiltPose()
                    throws java.lang.Exception

GetPanTiltPose

Specified by:

GetPanTiltPose in interface PanTiltBase

Returns:

Pose pan (Yaw) and tilt (pitch) in absolute degrees

Throws:

java.lang.Exception

Center

public void Center(java.util.HashMap properties)
            throws java.lang.Exception

CenterPanTilt

Specified by:

Center in interface PanTiltBase

Throws:

java.lang.Exception

Search

public void Search(java.util.HashMap properties)
            throws AbortActionException

Throws:

AbortActionException

SecureBoundary

public void SecureBoundary(java.util.HashMap properties)
                    throws AbortActionException

Overrides:

SecureBoundary in class KAoSAriaRobot

Throws:

AbortActionException

main

public static void main(java.lang.String[] args)