robot
Class NavRobot

java.lang.Object
  device.Device
      robot.Robot
          robot.Pioneer
              robot.NavRobot

All Implemented Interfaces:

IDevice, java.lang.Runnable, IPioneer, IRobot

public class NavRobot
extends Pioneer

A navigation robot. It can be given goal positions and it will plan a path to it and avoid obstacles.

Nested Class Summary

Nested classes/interfaces inherited from interface robot.external.IPioneer

IPioneer.StateType, IPioneer.viewDirectType

Field Summary

Fields inherited from class robot.Pioneer

currentState, lastPosition, stuckCounter, timerIsOccured

Fields inherited from class robot.Robot

bloFi, goal, gripper, localizer, logger, planner, posi, position, ranger0, ranger1, rLaser, robotId, rSonar, simu, speed, turnrate

Fields inherited from interface robot.external.IPioneer

BEAMCOUNT, COS45, DEGPROBEAM, DIAGOFFSET, DIST_TOLERANCE, FMAX, FMIN, HORZOFFSET, INV_COS45, isDebugDistance, isDebugLaser, isDebugPosition, isDebugSonar, isDebugState, LFMAX, LFMIN, LMAX, LMAXANGLE, LMIN, LPMAX, MAXSPEED, MAXTURNRATE, MINRANGE, MINSPEED, MINTURNRATE, MOUNTOFFSET, RFMAX, RFMIN, RMAX, RMIN, SHAPE_DIST, SONARCOUNT, SONARMAX, STOP_ROT, STOP_WALLFOLLOWDIST, TRACK_ROT, WALLFOLLOWDIST, WALLLOSTDIST, YAW_TOLERANCE

Fields inherited from interface device.external.IDevice

DEVICE_ACTARRAY_CODE, DEVICE_AIO_CODE, DEVICE_AUDIO_CODE, DEVICE_AUDIODSP_CODE, DEVICE_AUDIOMIXER_CODE, DEVICE_BLINKENLIGHT_CODE, DEVICE_BLOBFINDER_CODE, DEVICE_BUMPER_CODE, DEVICE_CAMERA_CODE, DEVICE_DEVICE_CODE, DEVICE_DIO_CODE, DEVICE_ENERGY_CODE, DEVICE_FIDUCIAL_CODE, DEVICE_GPS_CODE, DEVICE_GRAPHICS2D_CODE, DEVICE_GRAPHICS3D_CODE, DEVICE_GRIPPER_CODE, DEVICE_HEALTH_CODE, DEVICE_IMU_CODE, DEVICE_IR_CODE, DEVICE_JOYSTICK_CODE, DEVICE_LASER_CODE, DEVICE_LIMB_CODE, DEVICE_LOCALIZE_CODE, DEVICE_LOG_CODE, DEVICE_MAP_CODE, DEVICE_MCOM_CODE, DEVICE_NOMAD_CODE, DEVICE_NULL_CODE, DEVICE_OPAQUE_CODE, DEVICE_PLANNER_CODE, DEVICE_POINTCLOUD3D_CODE, DEVICE_POSITION1D_CODE, DEVICE_POSITION2D_CODE, DEVICE_POSITION3D_CODE, DEVICE_POWER_CODE, DEVICE_PTZ_CODE, DEVICE_RANGER_CODE, DEVICE_RFID_CODE, DEVICE_SERVICE_ADV_CODE, DEVICE_SIMULATION_CODE, DEVICE_SONAR_CODE, DEVICE_SOUND_CODE, DEVICE_SPEECH_CODE, DEVICE_SPEECH_RECOGNITION_CODE, DEVICE_TRUTH_CODE, DEVICE_WAVEFORM_CODE, DEVICE_WIFI_CODE, DEVICE_WSN_CODE

Constructor Summary

NavRobot(Device roboDevices)
Deprecated. Use NavRobot(Device[]) instead.

NavRobot(Device[] devList)
Creates a navigation robot.

Method Summary

protected void

update() Checks the robot's current state and performs appropriate actions.

Methods inherited from class robot.Pioneer

commandMotors, debugSensorData, getCollisionAvoid, getCurrentState, getDistance, getEscapeWhenStuck, getLeftWallfollow, getMinLasRange, getSafeSpeed, getSafeTurnrate, getSonarRanges, maxSonarValues, setCommand, setCurrentState, setWallfollow, stop, updatePosi, updateSpeed, updateStop, updateTurnrate

Methods inherited from class robot.Robot

connectDevices, getBloFi, getGoal, getGripper, getLaser, getLocalizer, getPlanner, getPosi, getPosition, getRobotId, getSimu, getSonar, getSpeed, getTurnrate, setGoal, setPosition, setRobotId, setSpeed, setTurnrate, shutdown, toString

Methods inherited from class device.Device

equals, getDevice, getDeviceIterator, getDeviceList, getDeviceListArray, getHost, getId, getIndex, getLogger, getPort, getSleepTime, getThreadName, isInList, isRunning, isSupported, isThreaded, matches, matchesList, run, runThreaded, setDeviceList, setHost, setName, setPort, setSleepTime

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

NavRobot

public NavRobot(Device roboDevices)

Deprecated. Use NavRobot(Device[]) instead.

Parameters:

roboDevices -

NavRobot

public NavRobot(Device[] devList)

Creates a navigation robot.

Parameters:

devList - The devices the robot can use.

Method Detail

update

protected void update()

Description copied from class: Pioneer

Checks the robot's current state and performs appropriate actions. Implements a subsumption architecture for robot behaviors.

Overrides:

update in class Pioneer