kaos.robots.torque
Class Tbot

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.ExecutionManager
          kaos.robots.torque.Tbot

All Implemented Interfaces:

KAoSObservable, ObserverManager, HashMapRequestReceiver, OWLRequestReceiver, MobileRobot, VehicleInspection

public class Tbot
extends ExecutionManager
implements MobileRobot, VehicleInspection

Nested Class Summary

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

ExecutionManager.RequestHandlerThread

Field Summary

java.lang.String	_currentMode
boolean	_faceCarDone
boolean	_gotoDone
boolean	_lookInCarDone
boolean	_moveDone
boolean	_resumeDone
boolean	_sim

Fields inherited from class kaos.robots.core.ExecutionManager

_actorID, _agentDescription, _classificationListeners, _connected, _currentActions, _enablingClasses, _enforcer, _ihmcDomain, _kaosEnabled, _learnedTasks, _learnedTaskVariables, _learning, _listeners, _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

Tbot()
used for testing

Method Summary

void	Beep()
Coordinate	GetCoordinate() GetCoordinate
java.util.Vector	getGarageItems()
double	GetMaxRotationalVelocity()
double	GetMaxTranslationalVelocity()
Pose	GetPose()
Coordinate	getTQposition(java.util.HashMap properties)
Area	getTQworldbox(java.util.HashMap properties)
void	GoToAndTakeReading(java.util.HashMap properties)
void	init(java.lang.String[] args)
void	InspectLicensePlate(java.util.HashMap properties) InspectLicensePlate
void	InspectVIN(java.util.HashMap properties) InspectVIN
boolean	IsMoving(java.util.HashMap properties) IsMoving
boolean	IsTranslating()
java.lang.Boolean	IsTurning(java.util.HashMap properties)
void	LookInsideCar(java.util.HashMap properties) LookInsideCar
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	SetMaxTranslationalVelocity(java.util.HashMap properties)
void	setRestrictedArea(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.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, shutdown, 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

_moveDone

public boolean _moveDone

_gotoDone

public boolean _gotoDone

_faceCarDone

public boolean _faceCarDone

_lookInCarDone

public boolean _lookInCarDone

_resumeDone

public boolean _resumeDone

_currentMode

public java.lang.String _currentMode

_sim

public boolean _sim

Constructor Detail

Tbot

public Tbot()

used for testing

Method Detail

init

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

Overrides:

init in class ExecutionManager

GoToAndTakeReading

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

Throws:

java.lang.Exception

Move

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

Description copied from interface: MobileRobot

MoveTo

Specified by:

Move in interface MobileRobot

Specified by:

Move in interface VehicleInspection

Throws:

AbortActionException - with possible reasons:

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

IsTurning

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

IsTranslating

public boolean IsTranslating()

SetMaxTranslationalVelocity

public void SetMaxTranslationalVelocity(java.util.HashMap properties)

GetMaxTranslationalVelocity

public double GetMaxTranslationalVelocity()

GetMaxRotationalVelocity

public double GetMaxRotationalVelocity()

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

setRestrictedArea

public void setRestrictedArea(java.util.HashMap properties)

InspectLicensePlate

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

Description copied from interface: VehicleInspection

InspectLicensePlate

Specified by:

InspectLicensePlate in interface VehicleInspection

Throws:

AbortActionException - with possible reasons:

java.lang.Exception

InspectVIN

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

Description copied from interface: VehicleInspection

InspectVIN

Specified by:

InspectVIN in interface VehicleInspection

Throws:

AbortActionException - with possible reasons:

java.lang.Exception

LookInsideCar

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

Description copied from interface: VehicleInspection

LookInsideCar

Specified by:

LookInsideCar in interface VehicleInspection

Throws:

AbortActionException - with possible reasons:

java.lang.Exception

getGarageItems

public java.util.Vector getGarageItems()
                                throws java.lang.Exception

Throws:

java.lang.Exception

getTQposition

public Coordinate getTQposition(java.util.HashMap properties)
                         throws java.lang.Exception

Throws:

java.lang.Exception

getTQworldbox

public Area getTQworldbox(java.util.HashMap properties)
                   throws java.lang.Exception

Throws:

java.lang.Exception

Beep

public void Beep()
          throws AbortActionException

Throws:

AbortActionException

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