lejos.robotics.proposal
Class UpdateablePose

java.lang.Object
  lejos.robotics.Pose
      lejos.robotics.proposal.UpdateablePose

All Implemented Interfaces:

MoveListener

public class UpdateablePose
extends Pose
implements MoveListener

Experimental Pose Represents the location and heading(direction angle) of a robot.
This class includes methods for updating the UpdateablePose to track common robot movements. It will updates itself for every move of a Pilot if it registers as a MoveListener. The Pilot must implement the MovementProvider interface. It can report the current pose at any time, even while a move is in progress.

Author:

Roger Glassey

Field Summary

protected float	_angle0
protected boolean	_current
protected float	_distance0
protected MovementProvider	pilot

Fields inherited from class lejos.robotics.Pose

_heading, _location

Constructor Summary

UpdateablePose()
allocate a new UpdateablePose at the origin, heading = 0:the direction the positive X axis

UpdateablePose(float x, float y, float heading)
Allocate a new pose at location (x,y) with specified heading in degrees.

Method Summary

float	getHeading() returns the heading (direction angle) of the UpdateablePose
Point	getLocation() return the location as a Point
float	getX() return X coordinate
float	getY() return Y coordinate
boolean	isCurrent()
void	movementStarted(Movement move, MovementProvider p) Called when a Movement Provider starts a move
void	movementStopped(Movement move, MovementProvider p) Called by the movementr provider when a move stops
void	setHeading(float heading)
void	setLocation(Point p) Set the location of the pose
void	setPilot(MovementProvider aPilot)
protected void	update(Movement move) Updates can occur while the robot is moving.

Methods inherited from class lejos.robotics.Pose

angleTo, arcUpdate, distanceTo, moveUpdate, rotateUpdate, translate

Methods inherited from class java.lang.Object

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

Field Detail

_current

protected boolean _current

pilot

protected MovementProvider pilot

_angle0

protected float _angle0

_distance0

protected float _distance0

Constructor Detail

UpdateablePose

public UpdateablePose()

allocate a new UpdateablePose at the origin, heading = 0:the direction the positive X axis

UpdateablePose

public UpdateablePose(float x,
                      float y,
                      float heading)

Allocate a new pose at location (x,y) with specified heading in degrees.

Parameters:

x -

y -

heading -

Method Detail

movementStarted

public void movementStarted(Movement move,
                            MovementProvider p)

Description copied from interface: MoveListener

Called when a Movement Provider starts a move

Specified by:

movementStarted in interface MoveListener

Parameters:

move - the movement

p - the movement provider

movementStopped

public void movementStopped(Movement move,
                            MovementProvider p)

Description copied from interface: MoveListener

Called by the movementr provider when a move stops

Specified by:

movementStopped in interface MoveListener

Parameters:

move - the movement

p - movement provider

update

protected void update(Movement move)

Updates can occur while the robot is moving. Update of pose required the change in angle and distance since last update. Pilot returns angle and distance since the start of movement. UpdateablePose uses angle0 and distance0 to calculate the change since last update.

getHeading

public float getHeading()

returns the heading (direction angle) of the UpdateablePose

Overrides:

getHeading in class Pose

Returns:

getX

public float getX()

return X coordinate

Overrides:

getX in class Pose

Returns:

getY

public float getY()

return Y coordinate

Overrides:

getY in class Pose

Returns:

getLocation

public Point getLocation()

return the location as a Point

Overrides:

getLocation in class Pose

Returns:

setLocation

public void setLocation(Point p)

Description copied from class: Pose

Set the location of the pose

Overrides:

setLocation in class Pose

Parameters:

p - the new location

setHeading

public void setHeading(float heading)

Overrides:

setHeading in class Pose

setPilot

public void setPilot(MovementProvider aPilot)

isCurrent

public boolean isCurrent()