lejos.robotics.navigation
Class Waypoint

java.lang.Object
  java.awt.geom.Point2D
      java.awt.geom.Point2D.Float
          lejos.geom.Point
              lejos.robotics.navigation.Waypoint

All Implemented Interfaces:

Cloneable, Transmittable

public class Waypoint
extends Point
implements Transmittable

A sequence of way points make up a route that a robot can navigate. Waypoint extends Point, as a way point can just be a point. However, a Waypoint can optionally specify a heading that the robot must achieve when it reaches the way points. It can also optionally specify how close the robot must get to the way point in order for it to be deemed to have reached it.

Nested Class Summary

Nested classes/interfaces inherited from class java.awt.geom.Point2D

Point2D.Double, Point2D.Float

Field Summary

protected float	heading
protected boolean	headingRequired
protected float	maxHeadingError
protected float	maxPositionError

Fields inherited from class java.awt.geom.Point2D.Float

x, y

Constructor Summary

Waypoint(double x, double y)

Waypoint(double x, double y, double heading)

Waypoint(Point p)

Waypoint(Pose p)

Method Summary

boolean	checkValidity(Pose p) Check that the given pose satisfies the conditions for this way point
void	dumpObject(DataOutputStream dos)
double	getHeading()
double	getMaxHeadingError()
double	getMaxPositionError()
Pose	getPose() Return a Pose that represents the way point.
boolean	isHeadingRequired()
void	loadObject(DataInputStream dis)
void	setMaxHeadingError(double distance)
void	setMaxPositionError(double distance)

Methods inherited from class lejos.geom.Point

add, addWith, angle, angleTo, clone, copyTo, dotProduct, getNormalized, leftOrth, length, makeLeftOrth, makeRightOrth, moveTo, multiply, multiplyBy, normalize, pointAt, projectOn, reverse, rightOrth, subtract, subtract, subtractWith, translate

Methods inherited from class java.awt.geom.Point2D.Float

getX, getY, setLocation, setLocation, toString

Methods inherited from class java.awt.geom.Point2D

distance, distance, distance, distanceSq, distanceSq, distanceSq, equals, setLocation

Methods inherited from class java.lang.Object

finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

heading

protected float heading

headingRequired

protected boolean headingRequired

maxPositionError

protected float maxPositionError

maxHeadingError

protected float maxHeadingError

Constructor Detail

Waypoint

public Waypoint(double x,
                double y)

Waypoint

public Waypoint(double x,
                double y,
                double heading)

Waypoint

public Waypoint(Point p)

Waypoint

public Waypoint(Pose p)

Method Detail

getHeading

public double getHeading()

isHeadingRequired

public boolean isHeadingRequired()

getMaxPositionError

public double getMaxPositionError()

setMaxPositionError

public void setMaxPositionError(double distance)

getMaxHeadingError

public double getMaxHeadingError()

setMaxHeadingError

public void setMaxHeadingError(double distance)

getPose

public Pose getPose()

Return a Pose that represents the way point. If no header is specified, it is set to zero.

Returns:

the pose corresponding to the way point

checkValidity

public boolean checkValidity(Pose p)

Check that the given pose satisfies the conditions for this way point

Parameters:

p - the Pose

dumpObject

public void dumpObject(DataOutputStream dos)
                throws IOException

Specified by:

dumpObject in interface Transmittable

Throws:

IOException

loadObject

public void loadObject(DataInputStream dis)
                throws IOException

Specified by:

loadObject in interface Transmittable

Throws:

IOException