Package lejos.robotics.navigation

Class Move

java.lang.Object

lejos.robotics.navigation.Move

All Implemented Interfaces:

Transmittable

public class Move
extends java.lang.Object
implements Transmittable

Models a movement performed by a pilot

Author:

Lawrie Griffiths

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Move.MoveType	The type of movement made in sufficient detail to allow errors in the movement to be modeled.

Constructor Summary

Constructors

Constructor	Description
Move(boolean isMoving, float angle, float turnRadius)	Alternate constructor that uses angle and turn radius instead.
Move(float distance, float angle, boolean isMoving)	Create a movement object to record a movement made by a pilot.
Move(Move.MoveType type, float distance, float angle, boolean isMoving)	Create a movement object to record a movement made by a pilot.
Move(Move.MoveType type, float distance, float angle, float travelSpeed, float rotateSpeed, boolean isMoving)	Create a movement object to record a movement made by a pilot.

Method Summary

Modifier and Type	Method	Description
static float	convertAngleToDistance(float angle, float turnRadius)	Static utility method for converting angle (given turn radius) into distance.
static float	convertDistanceToAngle(float distance, float turnRadius)	Static utility method for converting distance (given turn radius) into angle.
void	dumpObject(java.io.DataOutputStream dos)
float	getAngleTurned()	Get the angle turned by a rotate or an arc operation.
float	getArcRadius()	Get the radius of the arc
float	getDistanceTraveled()	Get the distance traveled.
Move.MoveType	getMoveType()	Get the type of the movement performed
float	getRotateSpeed()	Get the rotate speed
long	getTimeStamp()	The time stamp is the system clock at the time the Move object is created.
float	getTravelSpeed()	Get the travel speed
boolean	isMoving()	Test if move was in progress
void	loadObject(java.io.DataInputStream dis)
void	setDynamics(float travelSpeed, float rotateSpeed)	use this method to recycle an existing Move instead of creating a new one
void	setValues(Move.MoveType type, float distance, float angle, boolean isMoving)	use this method to recycle an existing Move instead of creating a new one
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

Move

public Move(float distance,
            float angle,
            boolean isMoving)

Create a movement object to record a movement made by a pilot. This method automatically calculates the MoveType based on the data as follows:

(distance NOT 0) AND (angle NOT 0) --> ARC (distance = 0) AND (angle NOT 0) --> ROTATE (distance NOT 0) AND (angle = 0) --> TRAVEL (distance = 0) AND (angle = 0) --> STOP

Parameters:

distance - the distance traveled in pilot units

angle - the angle turned in degrees

isMoving - true iff the movement was created while the robot was moving

Move

public Move(Move.MoveType type,
            float distance,
            float angle,
            float travelSpeed,
            float rotateSpeed,
            boolean isMoving)

Create a movement object to record a movement made by a pilot.

Parameters:

type - the movement type

distance - the distance traveled in pilot units

angle - the angle turned in degrees

travelSpeed - the travel speed

rotateSpeed - the rotate speed

isMoving - true iff the movement was created while the robot was moving

Move

public Move(Move.MoveType type,
            float distance,
            float angle,
            boolean isMoving)

Create a movement object to record a movement made by a pilot.

Parameters:

type - the movement type

distance - the distance traveled in pilot units

angle - the angle turned in degrees

isMoving - true iff the movement was created while the robot was moving

Move

public Move(boolean isMoving,
            float angle,
            float turnRadius)

Alternate constructor that uses angle and turn radius instead. Useful for constructing arcs, but it can't represent a straight line of travel with a set distance (use the other constructor to specify distance). This method automatically calculates the MoveType based on the data as follows:

(radius NOT 0) AND (angle NOT 0) --> ARC (radius = 0) AND (angle NOT 0) --> ROTATE (radius = 0) AND (angle = 0) --> STOP (radius = +infinity) AND (angle = 0) --> TRAVEL NOTE: can't calculate distance based only on angle and radius, therefore distance can't be calculated and will equal NaN)

Parameters:

isMoving -

angle -

turnRadius -

Method Detail

setValues

public void setValues(Move.MoveType type,
                      float distance,
                      float angle,
                      boolean isMoving)

use this method to recycle an existing Move instead of creating a new one

Parameters:

distance -

angle -

isMoving -

setDynamics

public void setDynamics(float travelSpeed,
                        float rotateSpeed)

use this method to recycle an existing Move instead of creating a new one

Parameters:

travelSpeed - the new travelspeed

rotateSpeed - the new rotate speed

getDistanceTraveled

public float getDistanceTraveled()

Get the distance traveled. This can be in a straight line or an arc path.

Returns:

the distance traveled

getTimeStamp

public long getTimeStamp()

The time stamp is the system clock at the time the Move object is created. It is set automatically in the Move constructor using System.currentTimeMillis()

Returns:

Time stamp in milliseconds.

getAngleTurned

public float getAngleTurned()

Get the angle turned by a rotate or an arc operation.

Returns:

the angle turned

getMoveType

public Move.MoveType getMoveType()

Get the type of the movement performed

Returns:

the movement type

getArcRadius

public float getArcRadius()

Get the radius of the arc

Returns:

the radius of the arc

getTravelSpeed

public float getTravelSpeed()

Get the travel speed

Returns:

the travel speed

getRotateSpeed

public float getRotateSpeed()

Get the rotate speed

Returns:

the rotate speed

isMoving

public boolean isMoving()

Test if move was in progress

Returns:

true iff the robot was moving when this Move object was created

convertDistanceToAngle

public static float convertDistanceToAngle(float distance,
                                           float turnRadius)

Static utility method for converting distance (given turn radius) into angle.

Parameters:

distance -

turnRadius -

Returns:

angle

convertAngleToDistance

public static float convertAngleToDistance(float angle,
                                           float turnRadius)

Static utility method for converting angle (given turn radius) into distance.

Parameters:

angle -

turnRadius -

Returns:

distance

dumpObject

public void dumpObject(java.io.DataOutputStream dos)
                throws java.io.IOException

Specified by:

dumpObject in interface Transmittable

Throws:

java.io.IOException

loadObject

public void loadObject(java.io.DataInputStream dis)
                throws java.io.IOException

Specified by:

loadObject in interface Transmittable

Throws:

java.io.IOException

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object