lejos.robotics.mapping
Class NavigationModel

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

Direct Known Subclasses:

NXTNavigationModel

public abstract class NavigationModel
extends Object

NavigationModel is an abstract class that has two implementations: NXTNavigationModel and PCNavigationModel. It is used to hold all navigation data and transmit updates to the date and other events between a NXT brick and the PC. The abstract NAvigationModel class defines all the events and all data and methods that are common to the NXT and PC implementations. The purpose of NavigationModel and the NXT and PC implementations is to to allow navigation tasks to be split between the NXT and the PC, to allow the PC to show a graphical display of the navigational data and allow the user to interact with it. This allows many different navigation applications to be developed which split processing between the PC and the NXT.

Author:

Lawrie Griffiths

Nested Class Summary

static class

NavigationModel.NavEvent Navigation events that are transmitted between the PC and the NXT (and vice versa).

Field Summary

protected Pose	currentPose
protected boolean	debug
protected DataInputStream	dis
protected DataOutputStream	dos
protected RangeFeature	feature
protected Move	lastMove
protected Move	lastPlannedMove
protected LineMap	map
protected MCLPoseProvider	mcl
protected int	numReadings
protected String	nxtName
protected MCLParticleSet	particles
protected Path	path
protected RangeReadings	readings
protected Waypoint	target

Constructor Summary

NavigationModel()

Method Summary

LineMap	getMap() Get the registered map
MCLParticleSet	getParticles() Get the registered particle set
Path	getPath() Get the registered path
RangeReadings	getReadings() Get the current range readings
Pose	getRobotPose() Get the current pose of the robot
Waypoint	getTarget() Get the target waypoint
boolean	hasMap() Test is the model has a map registered
void	setDebug(boolean on) Set debug output on of off
void	setNumReadings(int number) Set the number of readings for MCL
void	setParticleSet(MCLParticleSet particles) Set the MCL Particle set
void	setRobotPose(Pose p) Set the current robot pose
void	setTarget(Waypoint target) Set the target waypoint that the robot is to go to

Methods inherited from class java.lang.Object

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

Field Detail

map

protected LineMap map

nxtName

protected String nxtName

dis

protected DataInputStream dis

dos

protected DataOutputStream dos

numReadings

protected int numReadings

currentPose

protected Pose currentPose

target

protected Waypoint target

particles

protected MCLParticleSet particles

mcl

protected MCLPoseProvider mcl

readings

protected RangeReadings readings

path

protected Path path

lastMove

protected Move lastMove

lastPlannedMove

protected Move lastPlannedMove

feature

protected RangeFeature feature

debug

protected boolean debug

Constructor Detail

NavigationModel

public NavigationModel()

Method Detail

hasMap

public boolean hasMap()

Test is the model has a map registered

Returns:

true iff a map is registered

getMap

public LineMap getMap()

Get the registered map

Returns:

the LineMap

setNumReadings

public void setNumReadings(int number)

Set the number of readings for MCL

Parameters:

number - the number of readings

getRobotPose

public Pose getRobotPose()

Get the current pose of the robot

Returns:

the robot pose

getParticles

public MCLParticleSet getParticles()

Get the registered particle set

Returns:

the MCLParticleSet or null

setRobotPose

public void setRobotPose(Pose p)

Set the current robot pose

Parameters:

p - the pose

setParticleSet

public void setParticleSet(MCLParticleSet particles)

Set the MCL Particle set

Parameters:

particles - an MCLParticleSet

getReadings

public RangeReadings getReadings()

Get the current range readings

Returns:

the RangeReadings object

setTarget

public void setTarget(Waypoint target)

Set the target waypoint that the robot is to go to

Parameters:

target - the target waypoint

getTarget

public Waypoint getTarget()

Get the target waypoint

Returns:

the target waypoint

getPath

public Path getPath()

Get the registered path

Returns:

the Path object

setDebug

public void setDebug(boolean on)

Set debug output on of off

Parameters:

on - true for on, false for off