kaos.robots.activmedia
Class Ivan

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

All Implemented Interfaces:

Command, FeedbackReceiver, KAoSObservable, KAoSObserver, ObserverManager, CommRelay, MobileRobot, PanTiltBase, Sonar, VideoCamera, Zoomable

public class Ivan
extends ActivMedia
implements Sonar, VideoCamera, Zoomable, PanTiltBase

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

Ivan()

Method Summary

void	CenterPanTilt() CenterPanTilt
java.lang.Double	GetMaximumEffectiveSonarRange() GetSonarRange
java.lang.Double	GetMaxZoom() GetMaxZoom
java.lang.Integer	GetNumberOfSonarSensors() GetNumberOfSonarSensors
java.lang.Double	GetPan() GetPan
Pose	GetPanTiltPose() GetPanTiltPose
java.lang.Double	GetSonarRange(java.util.HashMap properties) GetSonarRange
SonarReading	GetSonarReading(java.util.HashMap properties) GetSonarReading
java.lang.Double	GetTilt() GetTilt
java.lang.Double	GetZoom() GetZoom
SerializableBufferImage	GrabFrameAsBuffer() CaptureImage
void	init(java.lang.String[] args)
static void	main(java.lang.String[] args)
void	Pan(java.util.HashMap properties) Pan
void	PanPTZCamera(java.util.HashMap properties)
void	SetMaxEffectiveSonarRange(java.util.HashMap properties) SetMaxEffectiveSonarRange
void	SetPan(java.util.HashMap properties) SetPan
void	SetPanTiltPose(java.util.HashMap properties) SetPanTiltPose
void	SetTilt(java.util.HashMap properties) SetTilt
void	SetZoom(java.util.HashMap properties) SetZoom
void	Tilt(java.util.HashMap properties) Tilt
void	TiltPTZCamera(java.util.HashMap properties)
void	Zoom(java.util.HashMap properties) Zoom
void	ZoomPTZCamera(java.util.HashMap properties)

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

Ivan

public Ivan()
     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()

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()

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

GrabFrameAsBuffer

public SerializableBufferImage GrabFrameAsBuffer()
                                          throws java.lang.Exception

Description copied from interface: VideoCamera

CaptureImage

Specified by:

GrabFrameAsBuffer in interface VideoCamera

Returns:

Buffer buffer of image

Throws:

java.lang.Exception

Zoom

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

Description copied from interface: Zoomable

Zoom

Specified by:

Zoom in interface Zoomable

Throws:

java.lang.Exception

SetZoom

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

Description copied from interface: Zoomable

SetZoom

Specified by:

SetZoom in interface Zoomable

Throws:

java.lang.Exception

GetZoom

public java.lang.Double GetZoom()
                         throws java.lang.Exception

Description copied from interface: Zoomable

GetZoom

Specified by:

GetZoom in interface Zoomable

Returns:

Double [0-1] indicating current zoom percentage

Throws:

java.lang.Exception

GetMaxZoom

public java.lang.Double GetMaxZoom()
                            throws java.lang.Exception

Description copied from interface: Zoomable

GetMaxZoom

Specified by:

GetMaxZoom in interface Zoomable

Returns:

Double indicating the maximum zoom

Throws:

java.lang.Exception

PanPTZCamera

public void PanPTZCamera(java.util.HashMap properties)

TiltPTZCamera

public void TiltPTZCamera(java.util.HashMap properties)

ZoomPTZCamera

public void ZoomPTZCamera(java.util.HashMap properties)

Pan

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

Description copied from interface: PanTiltBase

Pan

Specified by:

Pan in interface PanTiltBase

Throws:

java.lang.Exception

SetPan

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

Description copied from interface: PanTiltBase

SetPan

Specified by:

SetPan in interface PanTiltBase

Throws:

java.lang.Exception

Tilt

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

Description copied from interface: PanTiltBase

Tilt

Specified by:

Tilt in interface PanTiltBase

Throws:

java.lang.Exception

SetTilt

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

Description copied from interface: PanTiltBase

SetTilt

Specified by:

SetTilt in interface PanTiltBase

Throws:

java.lang.Exception

SetPanTiltPose

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

Description copied from interface: PanTiltBase

SetPanTiltPose

Specified by:

SetPanTiltPose in interface PanTiltBase

Throws:

java.lang.Exception

GetPan

public java.lang.Double GetPan()
                        throws java.lang.Exception

Description copied from interface: PanTiltBase

GetPan

Specified by:

GetPan in interface PanTiltBase

Returns:

Double pan angle in absolute degrees

Throws:

java.lang.Exception

GetTilt

public java.lang.Double GetTilt()
                         throws java.lang.Exception

Description copied from interface: PanTiltBase

GetTilt

Specified by:

GetTilt in interface PanTiltBase

Returns:

Double tilt angle in absolute degrees

Throws:

java.lang.Exception

GetPanTiltPose

public Pose GetPanTiltPose()
                    throws java.lang.Exception

Description copied from interface: PanTiltBase

GetPanTiltPose

Specified by:

GetPanTiltPose in interface PanTiltBase

Returns:

Pose pan (Yaw) and tilt (pitch) in absolute degrees

Throws:

java.lang.Exception

CenterPanTilt

public void CenterPanTilt()
                   throws java.lang.Exception

Description copied from interface: PanTiltBase

CenterPanTilt

Specified by:

CenterPanTilt in interface PanTiltBase

Throws:

java.lang.Exception

main

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