kaos.robots.naimtsimulator
Class KBot

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.KAoSRobot
          kaos.robots.naimtsimulator.KBot

All Implemented Interfaces:

KAoSObservable, ObserverManager, FeedbackReceiver, HashMapRequestReceiver, MobileRobot

public class KBot
extends KAoSRobot
implements MobileRobot

Nested Class Summary

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

KAoSRobot.RequestHandlerThread

Field Summary

static Simulator	_simSingleton
static int	WAIT_TIME

Fields inherited from class kaos.robots.core.KAoSRobot

_actorID, _address, _agentDescription, _classificationListeners, _connectBtn, _connected, _connectToCmb, _currentActions, _enablingClasses, _enforcer, _gpsIsAvailable, _gpsOrigin, _learnedTasks, _learnedTaskVariables, _learning, _listeners, _logger, _messageReceiver, _myLocator, _nickName, _policyService, _port, _registeredWithKAoS, _registration, _reniaCallback, _sender, _subtasks, _taskName, _transportName

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_helper, _mts, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Constructor Summary

KBot()

Method Summary

java.lang.String	CaptureImage()
java.lang.String	CaptureImage(Simulator sim)
boolean	connect() This function is used to connect to robot
void	disconnect() This function is used to disconnect from robot
Coordinate	GetCoordinate() GetCoordinate
java.lang.Double	GetMaximumEffectiveSonarRange()
java.lang.Integer	GetNumberOfSonarSensors()
Pose	GetPose()
java.lang.Double	GetSonarRange(java.util.HashMap properties)
SonarReading	GetSonarReading(java.util.HashMap properties)
SerializableBufferImage	GrabFrameAsBuffer()
void	init(java.lang.String[] args)
boolean	IsMoving(java.util.HashMap properties) IsMoving
void	Move(java.util.HashMap properties) MoveTo
void	registerKAoSExtensionComponentObserver(java.lang.String repType, java.lang.String ontType, KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, KAoSEntityDescription entityDesc)
void	SetMaxEffectiveSonarRange(java.util.HashMap properties)
void	SetRotationalVelocity(java.util.HashMap properties)
void	SetTranslationalVelocity(java.util.HashMap properties)
void	Stop(java.util.HashMap properties) Stop
void	TurnTo(java.util.HashMap properties) TurnTo

Methods inherited from class kaos.robots.core.KAoSRobot

assertNotLocatable, buildAID, buildConnectPanel, checkObligations, checkPermissionForAction, deregisterObserver, deregisterObserver, deregisterObserver, executeLearnedAction, ExtendTimeout, getActions, getActorID, getAgentDescription, getAgentDescriptionFromName, getAllAgents, getCurrentActions, getDetectedObjectObservable, getGPSCommPort, getLocator, getMTS, getPropertiesFromAID, getTimeoutPeriod, gpsIsAvailable, isRegisteredWithKAoS, makeActionAllowable, modifySpatialProperties, notify, onAborted, onAccepted, onCompleted, onRefused, onStarted, printDebugString, processHashMapRequest, processHashMapRequest, processHashMapRequest, processHashMapRequest, receiveKAoSStatus, registerObserver, registerObserver, registerObserver, registerObserver, registerWithKAoS, registerWithSpatialProperties, requestAction, sendMessage, sendRequestToKaa, setRegisteredWithKAoS, startLearning, stopLearning, updateTimeout

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

WAIT_TIME

public static int WAIT_TIME

_simSingleton

public static Simulator _simSingleton

Constructor Detail

KBot

public KBot()

Method Detail

init

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

Overrides:

init in class KAoSRobot

connect

public boolean connect()

Description copied from class: KAoSRobot

This function is used to connect to robot

Specified by:

connect in class KAoSRobot

Returns:

boolean indicating true if successful and false if failed

disconnect

public void disconnect()

Description copied from class: KAoSRobot

This function is used to disconnect from robot

Specified by:

disconnect in class KAoSRobot

Move

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

Description copied from interface: MobileRobot

MoveTo

Specified by:

Move in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to move failed to find path failed to get to goal received stop command

java.lang.Exception

TurnTo

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

Description copied from interface: MobileRobot

TurnTo

Specified by:

TurnTo in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to move

java.lang.Exception

Stop

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

Description copied from interface: MobileRobot

Stop

Specified by:

Stop in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to stop

java.lang.Exception

GetCoordinate

public Coordinate GetCoordinate()
                         throws java.lang.Exception

Description copied from interface: MobileRobot

GetCoordinate

Specified by:

GetCoordinate in interface MobileRobot

Returns:

Coordinate containing X in meters Y in meters

Throws:

AbortActionException

java.lang.Exception

GetPose

public Pose GetPose()
             throws java.lang.Exception

Throws:

java.lang.Exception

IsMoving

public boolean IsMoving(java.util.HashMap properties)
                 throws java.lang.Exception

Description copied from interface: MobileRobot

IsMoving

Specified by:

IsMoving in interface MobileRobot

Returns:

boolean where: true = moving false = not moving

Throws:

AbortActionException

java.lang.Exception

SetTranslationalVelocity

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

Specified by:

SetTranslationalVelocity in interface MobileRobot

Throws:

java.lang.Exception

SetRotationalVelocity

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

Specified by:

SetRotationalVelocity in interface MobileRobot

Throws:

java.lang.Exception

GetNumberOfSonarSensors

public java.lang.Integer GetNumberOfSonarSensors()

GetMaximumEffectiveSonarRange

public java.lang.Double GetMaximumEffectiveSonarRange()

GetSonarRange

public java.lang.Double GetSonarRange(java.util.HashMap properties)

GetSonarReading

public SonarReading GetSonarReading(java.util.HashMap properties)

SetMaxEffectiveSonarRange

public void SetMaxEffectiveSonarRange(java.util.HashMap properties)

CaptureImage

public java.lang.String CaptureImage()
                              throws java.lang.Exception

Returns:

The path where the Image was saved.

Throws:

java.lang.Exception

CaptureImage

public java.lang.String CaptureImage(Simulator sim)
                              throws java.lang.Exception

Throws:

java.lang.Exception

GrabFrameAsBuffer

public SerializableBufferImage GrabFrameAsBuffer()
                                          throws java.lang.Exception

Throws:

java.lang.Exception

registerKAoSExtensionComponentObserver

public void registerKAoSExtensionComponentObserver(java.lang.String repType,
                                                   java.lang.String ontType,
                                                   KAoSObserver observer,
                                                   java.lang.String updateType,
                                                   java.io.Serializable updateCondition,
                                                   KAoSEntityDescription entityDesc)
                                            throws NotLocatableException,
                                                   TransportFailure

Specified by:

registerKAoSExtensionComponentObserver in interface ObserverManager

Throws:

NotLocatableException

TransportFailure