robot
Class Robot

java.lang.Object
  device.Device
      robot.Robot

All Implemented Interfaces:

IDevice, java.lang.Runnable, IRobot

Direct Known Subclasses:

Pioneer

public class Robot
extends Device
implements IRobot

The Robot class represents a robot that can move in two dimensions, that is in x and y direction. It will dynamically use if possible any devices provided by the device list given. A robot can have a current location and a goal position (in global coordinate system).

Field Summary

(package private) Blobfinder	bloFi
(package private) Position	goal
(package private) IGripper	gripper
(package private) Localize	localizer
(package private) java.util.logging.Logger	logger Logging support
(package private) Planner	planner
(package private) Position2d	posi List of devices this robot can use if any of them are present.
(package private) Position	position
(package private) Ranger	ranger0
(package private) Ranger	ranger1
(package private) RangerLaser	rLaser
(package private) java.lang.String	robotId
(package private) RangerSonar	rSonar
(package private) Simulation	simu
(package private) double	speed
(package private) double	turnrate

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

Robot()
Creates a Robot with initialized position and goal.

Robot(Device deviceNode)
Deprecated. Use Robot(Device[]) instead. This constructor has to be overwritten in any subclasses! It will parse all devices from the given device and connects it to the internal device list.

Robot(Device[] robotDevList)
Creates a robot and provides the given devices to it.

Method Summary

(package private) void	connectDevices(Device[] deviceList) Initiate standard variables to this robot for the devices Note that if there are duplicate devices in the list always the last one of the same device code will be chosen!
Blobfinder	getBloFi()
Position	getGoal()
IGripper	getGripper()
Ranger	getLaser()
Localize	getLocalizer()
Planner	getPlanner() Returns the current Planner.
Position2d	getPosi()
Position	getPosition()
java.lang.String	getRobotId()
Simulation	getSimu()
Ranger	getSonar()
double	getSpeed()
double	getTurnrate()
void	setGoal(Position newGoal) Sets a goal if the robot possesses a navigation device.
void	setPosition(Position newPosition) Sets the position if the robot possesses an position device.
void	setRobotId(java.lang.String name) Sets this robot's string identifier.
void	setSpeed(double speed)
void	setTurnrate(double turnrate)
void	shutdown() Shuts down this (and any sub-) device.
java.lang.String	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, update

Methods inherited from class java.lang.Object

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

Field Detail

logger

java.util.logging.Logger logger

Logging support

posi

Position2d posi

List of devices this robot can use if any of them are present. They will be detected in a dynamical way during runtime.

ranger1

Ranger ranger1

rLaser

RangerLaser rLaser

ranger0

Ranger ranger0

rSonar

RangerSonar rSonar

planner

Planner planner

localizer

Localize localizer

gripper

IGripper gripper

bloFi

Blobfinder bloFi

simu

Simulation simu

speed

double speed

turnrate

double turnrate

position

Position position

goal

Position goal

robotId

java.lang.String robotId

Constructor Detail

Robot

public Robot()

Creates a Robot with initialized position and goal.

Robot

public Robot(Device deviceNode)

Deprecated. Use Robot(Device[]) instead. This constructor has to be overwritten in any subclasses! It will parse all devices from the given device and connects it to the internal device list.

Robot

public Robot(Device[] robotDevList)

Creates a robot and provides the given devices to it.

Parameters:

robotDevList - The provided devices.

Method Detail

getRobotId

public java.lang.String getRobotId()

Returns:

The robot's Id string.

setRobotId

public void setRobotId(java.lang.String name)

Sets this robot's string identifier.

Parameters:

name - The robot identifier.

connectDevices

void connectDevices(Device[] deviceList)

Initiate standard variables to this robot for the devices Note that if there are duplicate devices in the list always the last one of the same device code will be chosen!

Parameters:

deviceList - The device list to search for applicable devices.

setGoal

public void setGoal(Position newGoal)

Sets a goal if the robot possesses a navigation device.

Specified by:

setGoal in interface IRobot

Parameters:

newGoal - New @see Position goal.

getGoal

public Position getGoal()

Specified by:

getGoal in interface IRobot

Returns:

Current goal @see Position or null.

setPosition

public void setPosition(Position newPosition)

Sets the position if the robot possesses an position device.

Specified by:

setPosition in interface IRobot

Parameters:

newPosition - New @see Position.

getPosition

public Position getPosition()

Specified by:

getPosition in interface IRobot

Returns:

Current robot @see Position or null.

shutdown

public void shutdown()

Description copied from class: Device

Shuts down this (and any sub-) device.

Specified by:

shutdown in interface IDevice

Overrides:

shutdown in class Device

getPlanner

public Planner getPlanner()

Returns the current Planner.

Returns:

The @see Planner or 'null' if no one is available.

getLocalizer

public Localize getLocalizer()

Returns:

the current @see Localize @see Device or 'null' if no such device.

getGripper

public IGripper getGripper()

Returns:

The @see Gripper @see Device or 'null' if no such device.

getPosi

public Position2d getPosi()

Returns:

the posi

getLaser

public Ranger getLaser()

Returns:

the laser

getSonar

public Ranger getSonar()

Returns:

the sonar

getBloFi

public Blobfinder getBloFi()

Returns:

the bloFi

getSimu

public Simulation getSimu()

Returns:

the simu

getSpeed

public double getSpeed()

Returns:

the speed

getTurnrate

public double getTurnrate()

Returns:

the turnrate

setSpeed

public void setSpeed(double speed)

Parameters:

speed - the speed to set

setTurnrate

public void setTurnrate(double turnrate)

Parameters:

turnrate - the turnrate to set

toString

public java.lang.String toString()

Overrides:

toString in class Device