lejos.robotics.localization
Class OdometryPoseProvider

java.lang.Object
  lejos.robotics.localization.OdometryPoseProvider

All Implemented Interfaces:

PoseProvider, MoveListener

public class OdometryPoseProvider
extends java.lang.Object
implements PoseProvider, MoveListener

A PoseProvider keeps track of the robot Pose. It does this using odometry (dead reckoning) data contained in a Move, which is supplied by a MoveProvider. When the PoseProivder is constructed, it registers as listener with its MoveProvider,

Constructor Summary

OdometryPoseProvider(MoveProvider mp)
Allocates a new OdometryPoseProivder and registers it with the MovePovider as a listener.

Method Summary

Pose	getPose() returns a new pose that represents the current location and heading of the robot.
void	moveStarted(Move move, MoveProvider mp) called by a MoveProvider when movement starts
void	moveStopped(Move move, MoveProvider mp) called by a MoveProvider when movement ends
void	setPose(Pose aPose)

Methods inherited from class java.lang.Object

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

Constructor Detail

OdometryPoseProvider

public OdometryPoseProvider(MoveProvider mp)

Allocates a new OdometryPoseProivder and registers it with the MovePovider as a listener.

Method Detail

getPose

public Pose getPose()

returns a new pose that represents the current location and heading of the robot. If called while the robot is moving, the PoseProvider will get updated odometry data from its MoveProvider

Specified by:

getPose in interface PoseProvider

Returns:

pose

moveStarted

public void moveStarted(Move move,
                        MoveProvider mp)

called by a MoveProvider when movement starts

Specified by:

moveStarted in interface MoveListener

Parameters:

move - - the event that just started

mp - the MoveProvider that called this method

setPose

public void setPose(Pose aPose)

Specified by:

setPose in interface PoseProvider

moveStopped

public void moveStopped(Move move,
                        MoveProvider mp)

called by a MoveProvider when movement ends

Specified by:

moveStopped in interface MoveListener

Parameters:

move - - the event that just started

mp -