lejos.robotics.mapping
Class NXTNavigationModel

java.lang.Object
  lejos.robotics.mapping.NavigationModel
      lejos.robotics.mapping.NXTNavigationModel

All Implemented Interfaces:

MoveListener, NavigationListener, WaypointListener, FeatureListener

public class NXTNavigationModel
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

protected boolean	autoSendPose
protected float	clearance
protected 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

NXTNavigationModel()
Create the model and start the receiver thread

Method Summary

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(String message) Display an error message to the user
void	fatal(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(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 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

NXTNavigationModel

public NXTNavigationModel()

Create the model and start the receiver thread

Method Detail

log

public void log(String message)

Log a message

Parameters:

message - the message

error

public void error(String message)

Display an error message to the user

Parameters:

message - the error message

fatal

public void fatal(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

projection - the projection of the robot forward from its mid point

border - the border around the wall that the robot should not move into

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