kaos.robots.activmedia
Class AMsonar

java.lang.Object
  kaos.robots.core.KAoSRobot
      kaos.robots.activmedia.ActivMedia
          kaos.robots.activmedia.AMsonar

All Implemented Interfaces:

Command, FeedbackReceiver, KAoSObservable, KAoSObserver, ObserverManager, CommRelay, MobileRobot, Sonar

Direct Known Subclasses:

Amigo, AMptzCameraSonar

public class AMsonar
extends ActivMedia
implements 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, _listeners, _locator, _logger, _messageReceiver, _msgTransportService, _myLocator, _nickName, _registeredWithKAoS, _reniaCallback, _sender

Constructor Summary

AMsonar()

Method Summary

protected static double	getLastSonarXNative()
protected static double	getLastSonarYNative()
java.lang.Double	GetMaximumEffectiveSonarRange() GetSonarRange
java.lang.Integer	GetNumberOfSonarSensors() GetNumberOfSonarSensors
java.lang.Double	GetSonarRange(java.util.HashMap properties) GetSonarRange
protected static int	getSonarRangeNative(int sonarNumber)
SonarReading	GetSonarReading(java.util.HashMap properties) GetSonarReading
void	init(java.lang.String[] args)
protected static boolean	isNewLastSonarNative()
static void	main(java.lang.String[] args)
void	SetMaxEffectiveSonarRange(java.util.HashMap properties) SetMaxEffectiveSonarRange
protected static void	setMaxEffectiveSonarRange(int range)

Methods inherited from class kaos.robots.activmedia.ActivMedia

CommRelayMoveTo, CommRelayStop, connect, connectToRobotNative, connectToSimNative, disconnect, disconnectNative, GetCoordinate, getID, getMaxRotationalVelocityNative, GetMaxTranslationalVelocity, getMaxTranslationalVelocityNative, GetNamedLocationCoordinate, GetNamedLocations, GetPose, getTHNative, getXNative, getYNative, initNative, IsMoving, isMovingNative, IsTranslating, isTranslatingNative, IsTurning, isTurningNative, loadWorldNative, moveDistance, MoveDistance, MoveTo, moveToNative, moveToState, NameCurrentLocation, NameSpecifiedLocation, SearchDistance, setMaxMoveToSpeed, setMaxRotationalVelocityNative, SetMaxTranslationalVelocity, setMaxTranslationalVelocityNative, setOrigin, setOriginNative, setPose, SetRotationalVelocity, setRotationalVelocityNative, SetTranslationalVelocity, setTranslationalVelocityNative, Stop, stopNative, TurnRelative, turnRelNative, TurnTo, turnToNative, turnToState, update

Methods inherited from class kaos.robots.core.KAoSRobot

assertNotLocatable, buildAID, buildConnectPanel, buildKAoSPanel, checkObligations, deregisterObserver, deregisterObserver, deregisterObserver, equals, ExtendTimeout, getActions, getActorID, getAgentDescription, getAgentDescriptionFromName, getAllAgents, getCurrentActions, getDetectedObjectObservable, getGPSCommPort, getLocator, getMTS, getPropertiesFromAID, getTimeoutPeriod, gpsIsAvailable, hashCode, initialize, isRegisteredWithKAoS, makeActionAllowable, notify, onAborted, onAccepted, onCompleted, onRefused, onStarted, printDebugString, receiveKAoSStatus, receiveMessage, registerObserver, registerObserver, registerObserver, registerObserver, registerWithKAoS, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, sendMessage, sendRequestToKaa, setRegisteredWithKAoS, updateTimeout

Methods inherited from class java.lang.Object

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

Constructor Detail

AMsonar

public AMsonar()
        throws AbortActionException

Throws:

AbortActionException

Method Detail

init

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

Overrides:

init in class ActivMedia

GetNumberOfSonarSensors

public java.lang.Integer GetNumberOfSonarSensors()

GetNumberOfSonarSensors

Specified by:

GetNumberOfSonarSensors in interface Sonar

Parameters:

none -

Returns:

int representing the number of sensors

GetMaximumEffectiveSonarRange

public java.lang.Double GetMaximumEffectiveSonarRange()

GetSonarRange

Specified by:

GetMaximumEffectiveSonarRange in interface Sonar

Parameters:

none -

Returns:

int representing the effective range in meters

GetSonarRange

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

GetSonarRange

Specified by:

GetSonarRange in interface Sonar

Parameters:

int - representing the sonar to check range on

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

getSonarRangeNative

protected static int getSonarRangeNative(int sonarNumber)

getLastSonarXNative

protected static double getLastSonarXNative()

getLastSonarYNative

protected static double getLastSonarYNative()

isNewLastSonarNative

protected static boolean isNewLastSonarNative()

setMaxEffectiveSonarRange

protected static void setMaxEffectiveSonarRange(int range)

main

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