kaos.robots.tbot
Class KAoSTBot02

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.ExecutionManager
          kaos.robots.tbot.KAoSTBot02

All Implemented Interfaces:

KAoSObservable, ObserverManager, HashMapRequestReceiver, OWLRequestReceiver, MobileRobot

public class KAoSTBot02
extends ExecutionManager
implements MobileRobot

Nested Class Summary

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

ExecutionManager.RequestHandlerThread

Field Summary

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

KAoSTBot02()

Method Summary

protected void	createRobot(java.lang.String[] args)
boolean	equals(java.lang.Object object)
us.ihmc.plotting.Coordinate	GetCoordinate() GetCoordinate
GPSPose	GetGPSPose(java.util.HashMap properties)
GPSPosition	getGPSPosition()
us.ihmc.plotting.Pose	GetPose(java.util.HashMap properties)
static java.lang.String	getPropertyValue(java.lang.String property, java.util.HashMap properties)
static java.lang.String	getQualitativeFromPropertyValue(java.util.HashMap properties)
static java.lang.String	getQuantitativeFromPropertyValue(java.util.HashMap properties)
static double	getValueFromProperties(java.lang.String property, java.util.HashMap properties)
int	hashCode()
void	init(java.lang.String[] args)
boolean	isGPSAvailable()
boolean	IsMoving(java.util.HashMap properties) IsMoving
boolean	isRateQuantitativeValue(java.util.HashMap properties)
void	Kip(java.util.HashMap properties)
void	KipDown(java.util.HashMap properties)
void	KipUp(java.util.HashMap properties)
void	Move(java.util.HashMap properties) MoveTo
void	MoveTo(java.util.HashMap properties)
void	registerKAoSExtensionComponentObserver(java.lang.String repType, java.lang.String ontType, KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, KAoSEntityDescription entityDesc)
void	SetRelativeRotationalVelocity(java.util.HashMap properties)
void	SetRelativeTranslationalVelocity(java.util.HashMap properties)
void	SetRotationalVelocity(java.util.HashMap properties)
void	SetTranslationalVelocity(java.util.HashMap properties)
void	shutdown()
void	SlowDown(java.util.HashMap properties)
void	SpeedUp(java.util.HashMap properties)
void	Stop(java.util.HashMap properties) Stop
void	Turn(java.util.HashMap properties)
void	TurnTo(java.util.HashMap properties) TurnTo

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, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

KAoSTBot02

public KAoSTBot02()
           throws AbortActionException

Throws:

AbortActionException

Method Detail

createRobot

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

init

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

Overrides:

init in class ExecutionManager

MoveTo

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

Throws:

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 us.ihmc.plotting.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 us.ihmc.plotting.Pose GetPose(java.util.HashMap properties)

isGPSAvailable

public boolean isGPSAvailable()

GetGPSPose

public GPSPose GetGPSPose(java.util.HashMap properties)

getGPSPosition

public GPSPosition getGPSPosition()

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

SetRelativeTranslationalVelocity

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

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

SetRelativeRotationalVelocity

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

Throws:

java.lang.Exception

KipUp

public void KipUp(java.util.HashMap properties)

KipDown

public void KipDown(java.util.HashMap properties)

Kip

public void Kip(java.util.HashMap properties)

SpeedUp

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

Throws:

AbortActionException

SlowDown

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

Throws:

AbortActionException

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

Turn

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

Throws:

AbortActionException

getQualitativeFromPropertyValue

public static java.lang.String getQualitativeFromPropertyValue(java.util.HashMap properties)

isRateQuantitativeValue

public boolean isRateQuantitativeValue(java.util.HashMap properties)

getQuantitativeFromPropertyValue

public static java.lang.String getQuantitativeFromPropertyValue(java.util.HashMap properties)

getPropertyValue

public static java.lang.String getPropertyValue(java.lang.String property,
                                                java.util.HashMap properties)

getValueFromProperties

public static double getValueFromProperties(java.lang.String property,
                                            java.util.HashMap properties)

shutdown

public void shutdown()

Overrides:

shutdown in class ExecutionManager

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 TransportFailure,
                                                   NotLocatableException

Specified by:

registerKAoSExtensionComponentObserver in interface ObserverManager

Throws:

TransportFailure

NotLocatableException

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

equals

public boolean equals(java.lang.Object object)

Overrides:

equals in class java.lang.Object