lejos.robotics

Interface SampleProvider

All Known Subinterfaces:

SensorMode, SensorModes

All Known Implementing Classes:

AbstractCalibrationFilter, AbstractFilter, AccelerometerAdapter, AnalogSensor, BaseSensor, CodeTemplate, CompassPoseProvider, ConcatenationFilter, CruizcoreGyro, DexterCompassSensor, DexterGPSSensor, DexterIMUSensor, DexterIMUSensor.DexterIMUAccelerationSensor, DexterLaserSensor, DexterPressureSensor250, DexterPressureSensor500, DexterThermalIRSensor, Dump, EV3ColorSensor, EV3GyroSensor, EV3IRSensor, EV3TouchSensor, EV3UltrasonicSensor, HiTechnicAccelerometer, HiTechnicAngleSensor, HiTechnicBarometer, HiTechnicColorSensor, HiTechnicColorSensor.RGBMode, HiTechnicCompass, HiTechnicEOPD, HiTechnicEOPD.ShortDistanceMode, HiTechnicGyro, HiTechnicIRSeeker, HiTechnicIRSeekerV2, HiTechnicMagneticSensor, I2CSensor, IntegrationFilter, IRLink, LDCMotor, LinearCalibrationFilter, LMotor, LowPassFilter, LSC, LServo, MaximumFilter, MeanFilter, MedianFilter, MindsensorsAbsoluteIMU, MindsensorsAbsoluteIMU.ShortSensorMode, MindsensorsAccelerometer, MindsensorsCompass, MindsensorsDistanceSensorV2, MindsensorsLightSensorArray, MindsensorsLineLeader, MindSensorsNumPad, MindSensorsPressureSensor, MinimumFilter, ModulusFilter, MSC, MServo, NXTCam, NXTColorSensor, NXTe, NXTLightSensor, NXTMMX, NXTSoundSensor, NXTSoundSensor.DBMode, NXTTouchSensor, NXTUltrasonicSensor, NXTUltrasonicSensor.DistanceMode, NXTUltrasonicSensor.PingMode, OdometryPoseProvider, OffsetCorrectionFilter, PFLink, PFMate, PSPNXController, PublishFilter, RangeFinderAdapter, RCXLightSensor, RCXLink, RCXMotorMultiplexer, RCXRotationSensor, RCXSensorMultiplexer, RCXThermometer, RemoteRequestSampleProvider, RFIDSensor, SampleBuffer, SampleThread, SensorMux, SliceFilter, SubscribedProvider, SumFilter, SumoEyesSensor, TetrixMotorController, TetrixServoController, TouchMUX, UARTSensor, ZeroFilter

public interface SampleProvider

Abstraction for classes that fetch samples from a sensor and classes that are able to process samples.
A sample is a measurement taken by a sensor at a single moment in time. A sample can have one or more elements. The number of elements in a sample depends on the sensor (and sensor mode).
Sample providers comply with standards.

• Sample providers use standard units.
  
  • Length in meters
  • Angle in degrees
  • Temperature in degrees celcius
  • Pressure in Pascal
  • Speed in m/s
  • Acceleration in m/s^2
  • etc...
• When there is no clear unit a sample provider use normalized values in the range between 0 and 1.
• Sample providers that measure spatial data use a right handed cartesian coordinate system with the X-axis pointing forwards, the Y-axis pointing to the left and the Z-axis pointing up. (The plug of a sensor is always on its back.)
• A positive rotation of a mobile robot is a counterclockwise rotation.
• If a sample provider measures spatial data over more than one axis, the order of the elements in a sample corresponds with the X,Y and Z axis.

Author:

Aswin Bouwmeester

Method Summary

Modifier and Type	Method and Description
void	fetchSample(float[] sample, int offset) Fetches a sample from a sensor or filter.
int	sampleSize() Returns the number of elements in a sample. The number of elements does not change during runtime.

Method Detail

sampleSize

int sampleSize()

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

Returns:

the number of elements in a sample

fetchSample

void fetchSample(float[] sample,
                 int offset)

Fetches a sample from a sensor or filter.

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.