Package lejos.robotics.localization

Class OdometryPoseProvider

java.lang.Object

lejos.robotics.localization.OdometryPoseProvider

All Implemented Interfaces:

PoseProvider, MoveListener, SampleProvider

Direct Known Subclasses:

CompassPoseProvider

public class OdometryPoseProvider
extends java.lang.Object
implements PoseProvider, MoveListener, SampleProvider

A PoseProvider keeps track of the robot Pose. It does this using odometry (dead reckoning) data contained in a Move, which is supplied by a MoveProvider. When the PoseProivder is constructed, it registers as listener with its MoveProvider,

Constructor Summary

Constructors

Constructor	Description
OdometryPoseProvider(MoveProvider mp)	Allocates a new OdometryPoseProivder and registers it with the MovePovider as a listener.

Method Summary

Modifier and Type	Method	Description
void	fetchSample(float[] sample, int offset)	Fetches a sample from a sensor or filter.
Pose	getPose()	returns a new pose that represents the current location and heading of the robot.
void	moveStarted(Move move, MoveProvider mp)	called by a MoveProvider when movement starts
void	moveStopped(Move move, MoveProvider mp)	called by a MoveProvider when movement ends
int	sampleSize()	Returns the number of elements in a sample. The number of elements does not change during runtime.
void	setPose(Pose aPose)

Methods inherited from class java.lang.Object

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

Constructor Detail

OdometryPoseProvider

public OdometryPoseProvider(MoveProvider mp)

Allocates a new OdometryPoseProivder and registers it with the MovePovider as a listener.

Method Detail

getPose

public Pose getPose()

returns a new pose that represents the current location and heading of the robot. If called while the robot is moving, the PoseProvider will get updated odometry data from its MoveProvider

Specified by:

getPose in interface PoseProvider

Returns:

pose

moveStarted

public void moveStarted(Move move,
                        MoveProvider mp)

called by a MoveProvider when movement starts

Specified by:

moveStarted in interface MoveListener

Parameters:

move - - the event that just started

mp - the MoveProvider that called this method

setPose

public void setPose(Pose aPose)

Specified by:

setPose in interface PoseProvider

moveStopped

public void moveStopped(Move move,
                        MoveProvider mp)

called by a MoveProvider when movement ends

Specified by:

moveStopped in interface MoveListener

Parameters:

move - - the event that just started

mp -

sampleSize

public int sampleSize()

Description copied from interface: SampleProvider

Returns the number of elements in a sample.
The number of elements does not change during runtime.

Specified by:

sampleSize in interface SampleProvider

Returns:

the number of elements in a sample

fetchSample

public void fetchSample(float[] sample,
                        int offset)

Description copied from interface: SampleProvider

Fetches a sample from a sensor or filter.

Specified by:

fetchSample in interface SampleProvider

Parameters:

sample - The array to store the sample in.

offset - The elements of the sample are stored in the array starting at the offset position.