kaos.robots.activmedia
Class KAoSAriaLaserAndCamera

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

All Implemented Interfaces:

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

public class KAoSAriaLaserAndCamera
extends KAoSAriaCamera
implements LaserRangeDevice, KAoSAriaLaserInterface

Nested Class Summary

class

KAoSAriaLaserAndCamera.LaserThread

Nested classes/interfaces inherited from class kaos.robots.activmedia.KAoSAriaCamera

KAoSAriaCamera.MONITORING_STATUS

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

ExecutionManager.RequestHandlerThread

Field Summary

protected AriaLaserAndCamera	laser
boolean	MAPPING_AREA
boolean	MONITORING_FOR_MOTION

Fields inherited from class kaos.robots.activmedia.KAoSAriaCamera

camera, CURRENT_MONITORING_STATUS, 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

KAoSAriaLaserAndCamera()

Method Summary

protected void	createRobot(java.lang.String[] args)
void	FailCamera(java.util.HashMap properties)
void	FailLaser(java.util.HashMap properties)
void	FailSonar(java.util.HashMap properties)
AriaLaserInterface	getAriaLaserInterface()
java.util.Vector<RangeReading>	GetLaserReadings(java.util.HashMap properties)
void	init(java.lang.String[] args)
boolean	isMapping()
boolean	isMonitoringMotion()
static void	main(java.lang.String[] args)
void	MonitorBoundary(java.util.HashMap properties)
void	Search(java.util.HashMap properties)
void	SecureBoundary(java.util.HashMap properties)
void	setData(java.util.Vector<RangeReading> data)
void	setMapListener(MapListener mapListener)
void	setObjectListener(ObjectListener objectListener)
void	StartMappingArea(java.util.HashMap properties)
void	StartMonitoringWithLaser(java.util.HashMap properties)
void	startMonitoringWithSonar(java.util.HashMap properties)
void	StopMappingArea(java.util.HashMap properties)
void	StopMonitoringBoundary(java.util.HashMap properties)
void	StopMonitoringWithLaser(java.util.HashMap properties)
void	stopMonitoringWithSonar(java.util.HashMap properties)
void	TakeTeamAndMonitorBoundary(java.util.HashMap properties)
void	testLaser()
void	update(java.lang.String string, PolygonArtifact polygonArtifact)
void	update(java.lang.String string, ShapeArtifact shapeArtifact)

Methods inherited from class kaos.robots.activmedia.KAoSAriaCamera

Center, GetCameraPose, GetMaxZoom, GetPan, GetPanTiltPose, GetTilt, GetZoom, isTrackingMotion, Pan, PanPTZCamera, SetPan, SetPanTiltPose, SetTilt, SetZoom, StartMonitoring, StartMonitoringForMotion, StartMonitoringWithCamera, StopMonitoring, StopMonitoringForMotion, StopMonitoringWithCamera, Tilt, TiltPTZCamera, Zoom

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, Failure, FoundTarget, GetCoordinate, getID, GetMaxTranslationalVelocity, GetNamedLocationCoordinate, GetNamedLocations, GetPose, getPropertyValue, getQualitativeFromPropertyValue, getQuantitativeFromPropertyValue, getValueFromProperties, IsMoving, isRateQuantitativeValue, IsTurning, LostTarget, 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

laser

protected AriaLaserAndCamera laser

MONITORING_FOR_MOTION

public boolean MONITORING_FOR_MOTION

MAPPING_AREA

public boolean MAPPING_AREA

Constructor Detail

KAoSAriaLaserAndCamera

public KAoSAriaLaserAndCamera()
                       throws AbortActionException

Throws:

AbortActionException

Method Detail

createRobot

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

Overrides:

createRobot in class KAoSAriaCamera

init

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

Overrides:

init in class KAoSAriaCamera

GetLaserReadings

public java.util.Vector<RangeReading> GetLaserReadings(java.util.HashMap properties)

Specified by:

GetLaserReadings in interface LaserRangeDevice

setData

public void setData(java.util.Vector<RangeReading> data)

testLaser

public void testLaser()

MonitorBoundary

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

Overrides:

MonitorBoundary in class KAoSAriaRobot

Throws:

AbortActionException

SecureBoundary

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

Overrides:

SecureBoundary in class KAoSAriaCamera

Throws:

AbortActionException

Search

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

Overrides:

Search in class KAoSAriaCamera

Throws:

AbortActionException

StopMonitoringBoundary

public void StopMonitoringBoundary(java.util.HashMap properties)

StartMonitoringWithLaser

public void StartMonitoringWithLaser(java.util.HashMap properties)

StopMonitoringWithLaser

public void StopMonitoringWithLaser(java.util.HashMap properties)

TakeTeamAndMonitorBoundary

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

Throws:

AbortActionException

StartMappingArea

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

Throws:

AbortActionException

StopMappingArea

public void StopMappingArea(java.util.HashMap properties)

getAriaLaserInterface

public AriaLaserInterface getAriaLaserInterface()

Specified by:

getAriaLaserInterface in interface KAoSAriaLaserInterface

isMonitoringMotion

public boolean isMonitoringMotion()

Specified by:

isMonitoringMotion in interface KAoSAriaLaserInterface

isMapping

public boolean isMapping()

Specified by:

isMapping in interface KAoSAriaLaserInterface

update

public void update(java.lang.String string,
                   PolygonArtifact polygonArtifact)

update

public void update(java.lang.String string,
                   ShapeArtifact shapeArtifact)

setObjectListener

public void setObjectListener(ObjectListener objectListener)

Specified by:

setObjectListener in interface KAoSAriaLaserInterface

setMapListener

public void setMapListener(MapListener mapListener)

Specified by:

setMapListener in interface KAoSAriaLaserInterface

FailCamera

public void FailCamera(java.util.HashMap properties)

Overrides:

FailCamera in class KAoSAriaRobot

FailLaser

public void FailLaser(java.util.HashMap properties)

Overrides:

FailLaser in class KAoSAriaRobot

FailSonar

public void FailSonar(java.util.HashMap properties)

Overrides:

FailSonar in class KAoSAriaRobot

startMonitoringWithSonar

public void startMonitoringWithSonar(java.util.HashMap properties)

stopMonitoringWithSonar

public void stopMonitoringWithSonar(java.util.HashMap properties)

main

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