lejos.robotics.navigation

Class Pose

java.lang.Object

lejos.robotics.navigation.Pose

All Implemented Interfaces:

Transmittable

public class Pose
extends java.lang.Object
implements Transmittable

Represents the location and heading(direction angle) of a robot.
This class includes methods for updating the Pose to in response to basic robot movements. It also contains utility methods for use in navigation, such as the direction and distance to a point from the location of the pose, and also the location of a point at a given distance and direction from the location of the pose.
All directions and angles are in degrees and use the standard convention in mathematics: direction 0 is parallel to the X axis, and direction +90 is parallel to the Y axis.

Author:

Roger Glassey

Field Summary

Fields

Modifier and Type	Field and Description
protected float	_heading
protected Point	_location
protected static java.lang.String	format

Constructor Summary

Constructors

Constructor and Description
Pose() allocate a new Pose at the origin, heading = 0:the direction the positive X axis
Pose(float x, float y, float heading) Allocate a new pose at location (x,y) with specified heading in degrees.

Method Summary

Modifier and Type	Method and Description
float	angleTo(Point destination) Returns the angle with respect to the X axis to
void	arcUpdate(float distance, float turnAngle) Sets the pose location and heading to the correct values resulting from travel in a circular arc.
float	distanceTo(Point destination) Return the distance to the destination
void	dumpObject(java.io.DataOutputStream dos)
float	getHeading() returns the heading (direction angle) of the Pose
Point	getLocation() Get the location as a Point
float	getX() Get the X coordinate
float	getY() Get the Y coordinate
void	loadObject(java.io.DataInputStream dis)
void	moveUpdate(float distance) Move the specified distance in the direction of current heading.
Point	pointAt(float distance, float bearing) Returns the point at distance from the location of this pose, in the direction bearing relative to the X axis.
float	relativeBearing(Point destination) Returns the angle to destination relative to the pose heading;
void	rotateUpdate(float angle) Rotate the heading through the specified angle
void	setHeading(float heading)
void	setLocation(float x, float y) Sets the location of this pose to a new point at x,y;
void	setLocation(Point p) Set the location of the pose
java.lang.String	toString() return string contains x,y and heading
void	translate(float dx, float dy) Change the x and y coordinates of the pose by adding dx and dy.

Methods inherited from class java.lang.Object

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

Field Detail

_location

protected Point _location

_heading

protected float _heading

format

protected static java.lang.String format

Constructor Detail

Pose

public Pose()

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

Pose

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

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

Parameters:

x - the X coordinate

y - the Y coordinate

heading - the heading

Method Detail

rotateUpdate

public void rotateUpdate(float angle)

Rotate the heading through the specified angle

Parameters:

angle -

moveUpdate

public void moveUpdate(float distance)

Move the specified distance in the direction of current heading.

Parameters:

distance - to move

translate

public void translate(float dx,
                      float dy)

Change the x and y coordinates of the pose by adding dx and dy.

Parameters:

dx - change in x coordinate

dy - change in y coordinate

arcUpdate

public void arcUpdate(float distance,
                      float turnAngle)

Sets the pose location and heading to the correct values resulting from travel in a circular arc. The radius is calculated from the distance and turn angle

Parameters:

distance - the distance traveled

turnAngle - the angle turned

angleTo

public float angleTo(Point destination)

Returns the angle with respect to the X axis to from the current location of this pose.

Parameters:

destination -

Returns:

angle in degrees

relativeBearing

public float relativeBearing(Point destination)

Returns the angle to destination relative to the pose heading;

Parameters:

destination - the target point

Returns:

the relative bearing of the destination, between -180 and 180

distanceTo

public float distanceTo(Point destination)

Return the distance to the destination

Parameters:

destination -

Returns:

the distance

pointAt

public Point pointAt(float distance,
                     float bearing)

Returns the point at distance from the location of this pose, in the direction bearing relative to the X axis.

Parameters:

distance - the distance to the point

bearing - the true bearing of the point

Returns:

point

getHeading

public float getHeading()

returns the heading (direction angle) of the Pose

Returns:

the heading

getX

public float getX()

Get the X coordinate

Returns:

the X coordinate

getY

public float getY()

Get the Y coordinate

Returns:

the Y coordinate

getLocation

public Point getLocation()

Get the location as a Point

Returns:

the location as a point

setLocation

public void setLocation(Point p)

Set the location of the pose

Parameters:

p - the new location

setLocation

public void setLocation(float x,
                        float y)

Sets the location of this pose to a new point at x,y;

Parameters:

x -

y -

setHeading

public void setHeading(float heading)

toString

public java.lang.String toString()

return string contains x,y and heading

Overrides:

toString in class java.lang.Object

Returns:

x,y,heading

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