lejos.robotics.mapping
Class LineMap

java.lang.Object
  lejos.robotics.mapping.LineMap

All Implemented Interfaces:

RangeMap, Transmittable

public class LineMap
extends Object
implements RangeMap, Transmittable

A map of a room or other closed environment, represented by line segments

Author:

Lawrie Griffiths

Constructor Summary

LineMap()
Constructor to use when map will be loaded from a data stream

LineMap(Line[] lines, Rectangle boundingRect)
Create a map from an array of line segments and a bounding rectangle

Method Summary

void	createSVGFile(String fileName) Create an SVG map file
void	dumpObject(DataOutputStream dos) Dump the map to a DataOutputStream
LineMap	flip() Create a line map with the y axis flipped
Rectangle	getBoundingRect() Return the bounding rectangle of the mapped area
Line[]	getLines() Get the lines as an array
boolean	inside(Point p) Check if a point is within the mapped area
void	loadObject(DataInputStream dis) Load a map from a DataInputStream
float	range(Pose pose) Calculate the range of a robot to the nearest wall

Methods inherited from class java.lang.Object

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

Constructor Detail

LineMap

public LineMap(Line[] lines,
               Rectangle boundingRect)

Create a map from an array of line segments and a bounding rectangle

Parameters:

lines - the line segments

boundingRect - the bounding rectangle

LineMap

public LineMap()

Constructor to use when map will be loaded from a data stream

Method Detail

range

public float range(Pose pose)

Calculate the range of a robot to the nearest wall

Specified by:

range in interface RangeMap

Parameters:

pose - the pose of the robot

Returns:

the range or -1 if not in range

inside

public boolean inside(Point p)

Check if a point is within the mapped area

Specified by:

inside in interface RangeMap

Parameters:

p - the Point

Returns:

true iff the point is with the mapped area

getBoundingRect

public Rectangle getBoundingRect()

Return the bounding rectangle of the mapped area

Specified by:

getBoundingRect in interface RangeMap

Returns:

the bounding rectangle

dumpObject

public void dumpObject(DataOutputStream dos)
                throws IOException

Dump the map to a DataOutputStream

Specified by:

dumpObject in interface Transmittable

Parameters:

dos - the stream

Throws:

IOException

loadObject

public void loadObject(DataInputStream dis)
                throws IOException

Load a map from a DataInputStream

Specified by:

loadObject in interface Transmittable

Parameters:

dis - the stream

Throws:

IOException

getLines

public Line[] getLines()

Get the lines as an array

Returns:

the lines as an array

createSVGFile

public void createSVGFile(String fileName)
                   throws IOException

Create an SVG map file

Parameters:

fileName - the name of the file to create or overwrite

Throws:

IOException

flip

public LineMap flip()

Create a line map with the y axis flipped

Returns:

the new LineMap