kaos.robots.playerJavaClient
Class KAoSPlayer

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.KAoSRobot
          kaos.robots.playerJavaClient.KAoSPlayer

All Implemented Interfaces:

KAoSObservable, ObserverManager, FeedbackReceiver, HashMapRequestReceiver, MobileRobot, Sonar

public class KAoSPlayer
extends KAoSRobot
implements MobileRobot, Sonar

Nested Class Summary

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

KAoSRobot.RequestHandlerThread

Field Summary

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, _registeredWithKAoS, _registration, _reniaCallback, _sender, _subtasks, _taskName, _transportName

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_helper, _mts, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Constructor Summary

KAoSPlayer()

Method Summary

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.util.HashMap properties) GetSonarRange
double	GetMaxRotationalVelocity()
double	GetMaxTranslationalVelocity()
java.lang.Integer	GetNumberOfSonarSensors(java.util.HashMap properties) GetNumberOfSonarSensors
Pose	GetPose()
java.lang.Double	GetSonarRange(java.util.HashMap properties) GetSonarRange
SonarReading	GetSonarReading(java.util.HashMap properties) GetSonarReading
void	init(java.lang.String[] args)
boolean	IsMoving(java.util.HashMap properties) IsMoving
boolean	IsTranslating()
java.lang.Boolean	IsTurning(java.util.HashMap properties)
static void	main(java.lang.String[] args)
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) SetMaxEffectiveSonarRange
void	SetMaxTranslationalVelocity(java.util.HashMap properties)
void	setOrigin(java.util.HashMap properties)
void	SetRotationalVelocity(java.util.HashMap properties)
void	SetTranslationalVelocity(java.util.HashMap properties)
void	Stop(java.util.HashMap properties) Stop
void	TurnRelative(java.util.HashMap properties)
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

Constructor Detail

KAoSPlayer

public KAoSPlayer()
           throws AbortActionException

Throws:

AbortActionException

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 AbortActionException

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

TurnTo

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

Description copied from interface: MobileRobot

TurnTo

Specified by:

TurnTo in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to move

TurnRelative

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

Throws:

AbortActionException

Stop

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

Description copied from interface: MobileRobot

Stop

Specified by:

Stop in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to stop

GetCoordinate

public Coordinate GetCoordinate()

Description copied from interface: MobileRobot

GetCoordinate

Specified by:

GetCoordinate in interface MobileRobot

Returns:

Coordinate containing X in meters Y in meters

GetPose

public Pose GetPose()

setOrigin

public void setOrigin(java.util.HashMap properties)

IsMoving

public boolean IsMoving(java.util.HashMap properties)

Description copied from interface: MobileRobot

IsMoving

Specified by:

IsMoving in interface MobileRobot

Returns:

boolean where: true = moving false = not moving

IsTurning

public java.lang.Boolean IsTurning(java.util.HashMap properties)

IsTranslating

public boolean IsTranslating()

SetMaxTranslationalVelocity

public void SetMaxTranslationalVelocity(java.util.HashMap properties)

SetTranslationalVelocity

public void SetTranslationalVelocity(java.util.HashMap properties)

Specified by:

SetTranslationalVelocity in interface MobileRobot

SetRotationalVelocity

public void SetRotationalVelocity(java.util.HashMap properties)

Specified by:

SetRotationalVelocity in interface MobileRobot

GetMaxTranslationalVelocity

public double GetMaxTranslationalVelocity()

GetMaxRotationalVelocity

public double GetMaxRotationalVelocity()

GetNumberOfSonarSensors

public java.lang.Integer GetNumberOfSonarSensors(java.util.HashMap properties)

Description copied from interface: Sonar

GetNumberOfSonarSensors

Specified by:

GetNumberOfSonarSensors in interface Sonar

Returns:

int representing the number of sensors

GetMaximumEffectiveSonarRange

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

Description copied from interface: Sonar

GetSonarRange

Specified by:

GetMaximumEffectiveSonarRange in interface Sonar

Returns:

int representing effective range in meters

GetSonarRange

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

Description copied from interface: Sonar

GetSonarRange

Specified by:

GetSonarRange in interface Sonar

Returns:

int representing the range in meters

GetSonarReading

public SonarReading GetSonarReading(java.util.HashMap properties)

Description copied from interface: Sonar

GetSonarReading

Specified by:

GetSonarReading in interface Sonar

Returns:

SonarReading representing the range and position in meters

SetMaxEffectiveSonarRange

public void SetMaxEffectiveSonarRange(java.util.HashMap properties)

Description copied from interface: Sonar

SetMaxEffectiveSonarRange

Specified by:

SetMaxEffectiveSonarRange in interface Sonar

main

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

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