kaos.robots.naimtsimulator
Class KBot

java.lang.Object
  kaos.robots.core.KAoSRobot
      kaos.robots.naimtsimulator.KBot

All Implemented Interfaces:

Command, FeedbackReceiver, KAoSObservable, ObserverManager, MobileRobot, Sonar, VideoCamera

public class KBot
extends KAoSRobot
implements MobileRobot, Sonar, VideoCamera

Nested Class Summary

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

KAoSRobot.RequestHandlerThread

Field Summary

static Simulator	_simSingleton
static int	WAIT_TIME

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, _port, _registeredWithKAoS, _reniaCallback, _sender

Constructor Summary

KBot()

Method Summary

java.lang.String	CaptureImage()
java.lang.String	CaptureImage(Simulator sim)
boolean	connect() This function is used to connect to robot
void	disconnect() This function is used to disconnect from robot
Coordinate	GetCoordinate() GetCoordinate
java.lang.Double	GetMaximumEffectiveSonarRange() GetSonarRange
java.lang.Integer	GetNumberOfSonarSensors() GetNumberOfSonarSensors
Pose	GetPose() GetPose
java.lang.Double	GetSonarRange(java.util.HashMap properties) GetSonarRange
SonarReading	GetSonarReading(java.util.HashMap properties) GetSonarReading
SerializableBufferImage	GrabFrameAsBuffer() CaptureImage
void	init(java.lang.String[] args)
boolean	IsMoving() IsMoving
void	MoveTo(java.util.HashMap properties) MoveTo
void	SetMaxEffectiveSonarRange(java.util.HashMap properties) SetMaxEffectiveSonarRange
void	Stop() Stop
void	TurnTo(java.util.HashMap properties) TurnTo

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

Field Detail

WAIT_TIME

public static int WAIT_TIME

_simSingleton

public static Simulator _simSingleton

Constructor Detail

KBot

public KBot()

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 java.lang.Exception

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

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()
          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

Description copied from interface: MobileRobot

GetPose

Specified by:

GetPose in interface MobileRobot

Returns:

Pose containing X in meters Y in meters TH in degrees

Throws:

AbortActionException

java.lang.Exception

IsMoving

public boolean IsMoving()
                 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

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

CaptureImage

public java.lang.String CaptureImage()
                              throws java.lang.Exception

Returns:

The path where the Image was saved.

Throws:

java.lang.Exception

CaptureImage

public java.lang.String CaptureImage(Simulator sim)
                              throws java.lang.Exception

Throws:

java.lang.Exception

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