kaos.robots.activmedia
Class ActivMedia

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

All Implemented Interfaces:

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

Direct Known Subclasses:

AMptzCamera, AMsonar, Fran, Ivan

public class ActivMedia
extends KAoSRobot
implements MobileRobot, CommRelay, KAoSObserver

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

ActivMedia()

Method Summary

void	CommRelayMoveTo(java.util.HashMap properties) CommRelayMoveTo
void	CommRelayStop() CommRelayStop
boolean	connect() This function is used to connect to robot
protected static boolean	connectToRobotNative()
protected static boolean	connectToSimNative(int port)
void	disconnect() This function is used to disconnect from robot
protected static void	disconnectNative()
Coordinate	GetCoordinate() GetCoordinate
java.lang.String	getID() Return the unique identifier of this observer.
protected static double	getMaxRotationalVelocityNative()
double	GetMaxTranslationalVelocity()
protected static double	getMaxTranslationalVelocityNative()
Coordinate	GetNamedLocationCoordinate(java.util.HashMap properties)
java.util.Iterator	GetNamedLocations()
Pose	GetPose() GetPose
protected static double	getTHNative()
protected static double	getXNative()
protected static double	getYNative()
void	init(java.lang.String[] args)
protected static void	initNative(int gui)
boolean	IsMoving() IsMoving
protected static boolean	isMovingNative()
boolean	IsTranslating()
protected static boolean	isTranslatingNative()
java.lang.Boolean	IsTurning()
protected static boolean	isTurningNative(double rate)
protected static void	loadWorldNative(java.lang.String fname)
static void	main(java.lang.String[] args)
protected static void	moveDistance(double x)
void	MoveDistance(java.util.HashMap properties)
void	MoveTo(java.util.HashMap properties) MoveTo
protected static void	moveToNative(int x, int y)
protected static int	moveToState()
void	NameCurrentLocation(java.util.HashMap properties)
void	NameSpecifiedLocation(java.util.HashMap properties)
void	SearchDistance(java.util.HashMap properties)
protected static void	setMaxMoveToSpeed(int speed)
protected static double	setMaxRotationalVelocityNative(double v)
void	SetMaxTranslationalVelocity(java.util.HashMap properties)
protected static double	setMaxTranslationalVelocityNative(double v)
void	setOrigin(java.util.HashMap properties)
protected static double	setOriginNative(double x, double y, double th)
protected static void	setPose(double x, double y, double th)
void	SetRotationalVelocity(java.util.HashMap properties)
protected static double	setRotationalVelocityNative(double v)
void	SetTranslationalVelocity(java.util.HashMap properties)
protected static double	setTranslationalVelocityNative(double v)
void	Stop() Stop
protected static void	stopNative()
void	TurnRelative(java.util.HashMap properties)
protected static void	turnRelNative(double degrees)
void	TurnTo(java.util.HashMap properties) TurnTo
protected static void	turnToNative(float x, float y)
protected static int	turnToState()
void	update(java.lang.String observableID, java.lang.String updateType, java.lang.Object updateCondition, java.lang.Object update) Receive an update from the KAoSObservable when the KAoSObservable has a change or event to report.

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

ActivMedia

public ActivMedia()
           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

MoveTo

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

Description copied from interface: MobileRobot

MoveTo

Specified by:

MoveTo 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()
          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()

Description copied from interface: MobileRobot

GetPose

Specified by:

GetPose in interface MobileRobot

Returns:

Pose containing X in meters Y in meters TH in degrees

setOrigin

public void setOrigin(java.util.HashMap properties)

NameCurrentLocation

public void NameCurrentLocation(java.util.HashMap properties)

NameSpecifiedLocation

public void NameSpecifiedLocation(java.util.HashMap properties)

GetNamedLocations

public java.util.Iterator GetNamedLocations()

GetNamedLocationCoordinate

public Coordinate GetNamedLocationCoordinate(java.util.HashMap properties)

IsMoving

public boolean IsMoving()

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()

IsTranslating

public boolean IsTranslating()

SetMaxTranslationalVelocity

public void SetMaxTranslationalVelocity(java.util.HashMap properties)

SetTranslationalVelocity

public void SetTranslationalVelocity(java.util.HashMap properties)

SetRotationalVelocity

public void SetRotationalVelocity(java.util.HashMap properties)

GetMaxTranslationalVelocity

public double GetMaxTranslationalVelocity()

MoveDistance

public void MoveDistance(java.util.HashMap properties)

update

public void update(java.lang.String observableID,
                   java.lang.String updateType,
                   java.lang.Object updateCondition,
                   java.lang.Object update)

Description copied from interface: KAoSObserver

Receive an update from the KAoSObservable when the KAoSObservable has a change or event to report.

Specified by:

update in interface KAoSObserver

Parameters:

observableID - String identifying the KAoSObservable sending the update.

updateType - String indicating type of update.

update - Object containing the update.

getID

public java.lang.String getID()

Description copied from interface: KAoSObserver

Return the unique identifier of this observer.

Specified by:

getID in interface KAoSObserver

Returns:

String containing the unique ID of this observer.

SearchDistance

public void SearchDistance(java.util.HashMap properties)

CommRelayMoveTo

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

Description copied from interface: CommRelay

CommRelayMoveTo

Specified by:

CommRelayMoveTo in interface CommRelay

Throws:

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

java.lang.Exception

CommRelayStop

public void CommRelayStop()
                   throws java.lang.Exception

Description copied from interface: CommRelay

CommRelayStop

Specified by:

CommRelayStop in interface CommRelay

Throws:

AbortActionException - with possible reasons: unable to stop

java.lang.Exception

initNative

protected static void initNative(int gui)

loadWorldNative

protected static void loadWorldNative(java.lang.String fname)

connectToRobotNative

protected static boolean connectToRobotNative()

connectToSimNative

protected static boolean connectToSimNative(int port)

moveDistance

protected static void moveDistance(double x)

moveToNative

protected static void moveToNative(int x,
                                   int y)

moveToState

protected static int moveToState()

turnToState

protected static int turnToState()

turnToNative

protected static void turnToNative(float x,
                                   float y)

getXNative

protected static double getXNative()

getYNative

protected static double getYNative()

getTHNative

protected static double getTHNative()

isMovingNative

protected static boolean isMovingNative()

isTurningNative

protected static boolean isTurningNative(double rate)

isTranslatingNative

protected static boolean isTranslatingNative()

disconnectNative

protected static void disconnectNative()

stopNative

protected static void stopNative()

getMaxTranslationalVelocityNative

protected static double getMaxTranslationalVelocityNative()

setMaxTranslationalVelocityNative

protected static double setMaxTranslationalVelocityNative(double v)

setTranslationalVelocityNative

protected static double setTranslationalVelocityNative(double v)

setRotationalVelocityNative

protected static double setRotationalVelocityNative(double v)

setPose

protected static void setPose(double x,
                              double y,
                              double th)

getMaxRotationalVelocityNative

protected static double getMaxRotationalVelocityNative()

setMaxRotationalVelocityNative

protected static double setMaxRotationalVelocityNative(double v)

setOriginNative

protected static double setOriginNative(double x,
                                        double y,
                                        double th)

setMaxMoveToSpeed

protected static void setMaxMoveToSpeed(int speed)

turnRelNative

protected static void turnRelNative(double degrees)

main

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