EV3NavigationModel (leJOS EV3 API documentation)

java.lang.Object
- lejos.robotics.mapping.NavigationModel
- - lejos.robotics.mapping.EV3NavigationModel

All Implemented Interfaces:

MoveListener, NavigationListener, WaypointListener, FeatureListener
```
public class EV3NavigationModel
extends NavigationModel
implements MoveListener, NavigationListener, WaypointListener, FeatureListener
```
NXT version of the navigation model. All local navigation objects, including pilots, navigators, path finders, feature detectors, and range scanners can be added to the model. Where possible, the model registers itself as an event listener and when the event occurs, updates the model and sends the event and the updates to the PC. A receiver thread receives events from the PC, updates the local model, and uses the navigation objects to implement the event if it involves robot behaviour. There are set methods to set various navigation parameters.

Author:

Lawrie Griffiths

Nested Class Summary
- Nested classes/interfaces inherited from class lejos.robotics.mapping.NavigationModel
  NavigationModel.NavEvent

Field Summary

Fields
Modifier and Type	Field and Description
`protected boolean`	`autoSendPose`
`protected float`	`clearance`
`protected java.util.ArrayList<FeatureDetector>`	`detectors`
`protected PathFinder`	`finder`
`protected NavEventListener`	`listener`
`protected float`	`maxDistance`
`protected Navigator`	`navigator`
`protected MoveController`	`pilot`
`protected PoseProvider`	`pp`
`protected RangeScanner`	`scanner`
`protected boolean`	`sendMoveStart`
`protected boolean`	`sendMoveStop`

Fields inherited from class lejos.robotics.mapping.NavigationModel
currentPose, debug, dis, dos, feature, lastMove, lastPlannedMove, map, mcl, numReadings, nxtName, particles, path, readings, target

Constructor Summary

Constructors
Constructor and Description

EV3NavigationModel()
Create the model and start the receiver thread

Constructors
Constructor and Description
`EV3NavigationModel()` Create the model and start the receiver thread

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addFeatureDetector(FeatureDetector detector)` Add a feature detector to the model
`void`	`addListener(NavEventListener listener)`
`void`	`addNavigator(Navigator navigator)` Add a navigator to the model
`void`	`addPilot(MoveController pilot)` Add a pilot to the model
`void`	`addPoseProvider(PoseProvider pp)` Add a pose provider (which might be MCL) to the model
`void`	`addRangeScanner(RangeScanner scanner)` Add a range scanner to the model
`void`	`addWaypoint(Waypoint wp)` Send a waypoint generated on the NXT to the PC
`void`	`atWaypoint(Waypoint waypoint, Pose pose, int sequence)` Called when a waypoint has been reached
`void`	`error(java.lang.String message)` Display an error message to the user
`void`	`fatal(java.lang.String message)` Display a fatal error and shut down the program
`void`	`featureDetected(Feature feature, FeatureDetector detector)` Called when a feature is detected.
`void`	`log(java.lang.String message)` Log a message
`void`	`moveStarted(Move event, MoveProvider mp)` Called when the pilot starts a move
`void`	`moveStopped(Move event, MoveProvider mp)` Called when a move stops
`void`	`pathComplete(Waypoint waypoint, Pose pose, int sequence)` Called when a path has been completed
`void`	`pathGenerated()` Called when a path finder has finished generating a path
`void`	`pathInterrupted(Waypoint waypoint, Pose pose, int sequence)` Called when a path has been interrupted
`void`	`setAutoSendPose(boolean on)` Set or unset automatic sending of the robot pose to the PC when a move stops
`void`	`setRandomMoveParameters(float maxDistance, float clearance)` Set parameters for a random move
`void`	`setSendMoveStart(boolean on)` Sets whether events are sent to the PC when a move stops
`void`	`setSendMoveStop(boolean on)` Sets whether events are sent to the PC when a move starts
`void`	`shutDown()` Shut down the receiver thread

Methods inherited from class lejos.robotics.mapping.NavigationModel
getMap, getParticles, getPath, getReadings, getRobotPose, getTarget, hasMap, setDebug, setNumReadings, setParticleSet, setRobotPose, setTarget

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - navigator
```
protected Navigator navigator
```
  - pilot
```
protected MoveController pilot
```
  - pp
```
protected PoseProvider pp
```
  - detectors
```
protected java.util.ArrayList<FeatureDetector> detectors
```
  - finder
```
protected PathFinder finder
```
  - scanner
```
protected RangeScanner scanner
```
  - listener
```
protected NavEventListener listener
```
  - clearance
```
protected float clearance
```
  - maxDistance
```
protected float maxDistance
```
  - autoSendPose
```
protected boolean autoSendPose
```
  - sendMoveStart
```
protected boolean sendMoveStart
```
  - sendMoveStop
```
protected boolean sendMoveStop
```
- Constructor Detail
  - EV3NavigationModel
```
public EV3NavigationModel()
```
    Create the model and start the receiver thread
- Method Detail
  - log
```
public void log(java.lang.String message)
```
    Log a message
    
    Parameters:
    
    message - the message
  - error
```
public void error(java.lang.String message)
```
    Display an error message to the user
    
    Parameters:
    
    message - the error message
  - fatal
```
public void fatal(java.lang.String message)
```
    Display a fatal error and shut down the program
    
    Parameters:
    
    message - the error message
  - addNavigator
```
public void addNavigator(Navigator navigator)
```
    Add a navigator to the model
    
    Parameters:
    
    navigator - the path controller
  - addPilot
```
public void addPilot(MoveController pilot)
```
    Add a pilot to the model
    
    Parameters:
    
    pilot - the move controller
  - addPoseProvider
```
public void addPoseProvider(PoseProvider pp)
```
    Add a pose provider (which might be MCL) to the model
    
    Parameters:
    
    pp - the pose provider
  - addRangeScanner
```
public void addRangeScanner(RangeScanner scanner)
```
    Add a range scanner to the model
    
    Parameters:
    
    scanner - the range scanner
  - addFeatureDetector
```
public void addFeatureDetector(FeatureDetector detector)
```
    Add a feature detector to the model
    
    Parameters:
    
    detector - the feature detector
  - setRandomMoveParameters
```
public void setRandomMoveParameters(float maxDistance,
                                    float clearance)
```
    Set parameters for a random move
    
    Parameters:
    
    maxDistance - the maximum distance of the move
    
    clearance - the clearance distance around the robot
  - setAutoSendPose
```
public void setAutoSendPose(boolean on)
```
    Set or unset automatic sending of the robot pose to the PC when a move stops
    
    Parameters:
    
    on - true if the pose is to be sent, else false
  - setSendMoveStart
```
public void setSendMoveStart(boolean on)
```
    Sets whether events are sent to the PC when a move stops
    
    Parameters:
    
    on - true iff an event should be sent
  - setSendMoveStop
```
public void setSendMoveStop(boolean on)
```
    Sets whether events are sent to the PC when a move starts
    
    Parameters:
    
    on - true iff an event should be sent
  - shutDown
```
public void shutDown()
```
    Shut down the receiver thread
  - addListener
```
public void addListener(NavEventListener listener)
```
  - moveStarted
```
public void moveStarted(Move event,
                        MoveProvider mp)
```
    Called when the pilot starts a move
    
    Specified by:
    
    moveStarted in interface MoveListener
    
    Parameters:
    
    event - the movement
    
    mp - the movement provider
  - moveStopped
```
public void moveStopped(Move event,
                        MoveProvider mp)
```
    Called when a move stops
    
    Specified by:
    
    moveStopped in interface MoveListener
    
    Parameters:
    
    event - the movement
    
    mp - movement provider
  - featureDetected
```
public void featureDetected(Feature feature,
                            FeatureDetector detector)
```
    Called when a feature is detected. Only range features currently supported
    
    Specified by:
    
    featureDetected in interface FeatureListener
    
    Parameters:
    
    feature - The RangeReading, which contains angle and range.
  - addWaypoint
```
public void addWaypoint(Waypoint wp)
```
    Send a waypoint generated on the NXT to the PC
    
    Specified by:
    
    addWaypoint in interface WaypointListener
    
    Parameters:
    
    wp - the new waypoint
  - atWaypoint
```
public void atWaypoint(Waypoint waypoint,
                       Pose pose,
                       int sequence)
```
    Called when a waypoint has been reached
    
    Specified by:
    
    atWaypoint in interface NavigationListener
    
    Parameters:
    
    waypoint - where the robot
    
    pose - of the robot
    
    sequence - of the Waypoint in the path
  - pathComplete
```
public void pathComplete(Waypoint waypoint,
                         Pose pose,
                         int sequence)
```
    Called when a path has been completed
    
    Specified by:
    
    pathComplete in interface NavigationListener
    
    Parameters:
    
    waypoint - where the robot
    
    pose - of the robot
    
    sequence - of the Waypoint in the path
  - pathInterrupted
```
public void pathInterrupted(Waypoint waypoint,
                            Pose pose,
                            int sequence)
```
    Called when a path has been interrupted
    
    Specified by:
    
    pathInterrupted in interface NavigationListener
    
    Parameters:
    
    waypoint - toward which the robot was moving
    
    pose - current pose of the robot
    
    sequence - number of the next Waypoint
  - pathGenerated
```
public void pathGenerated()
```
    Called when a path finder has finished generating a path
    
    Specified by:
    
    pathGenerated in interface WaypointListener

Class EV3NavigationModel

Nested Class Summary

Nested classes/interfaces inherited from class lejos.robotics.mapping.NavigationModel

Field Summary

Fields inherited from class lejos.robotics.mapping.NavigationModel

Constructor Summary

Method Summary

Methods inherited from class lejos.robotics.mapping.NavigationModel

Methods inherited from class java.lang.Object

Field Detail

navigator

pilot

pp

detectors

finder

scanner

listener

clearance

maxDistance

autoSendPose

sendMoveStart

sendMoveStop

Constructor Detail

EV3NavigationModel

Method Detail

log

error

fatal

addNavigator

addPilot

addPoseProvider

addRangeScanner

addFeatureDetector

setRandomMoveParameters

setAutoSendPose

setSendMoveStart

setSendMoveStop

shutDown

addListener

moveStarted

moveStopped

featureDetected

addWaypoint

atWaypoint

pathComplete

pathInterrupted

pathGenerated