1 package cz.cuni.amis.pogamut.usar2004.agent.module.geometry;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.GeometryType;
4
5 /**
6 * Geometry message representative for Ground vehicles.
7 *
8 * @author vejmanm
9 */
10 public class GeoGround extends VehicleGeometry
11 {
12 public static final GeometryType type = GeometryType.GROUND_VEHICLE;
13
14 /**
15 * Ctor. Geometry type describes particular subject about which we want to
16 * know about. It is used to distinguish incoming message from the server.
17 */
18 public GeoGround()
19 {
20 super(type);
21 }
22
23 /**
24 * The value is the radius of the robot’s wheels, in meters
25 *
26 * @return Returns wheel radius of the robot.
27 */
28 public double getWheelRadius()
29 {
30 return lastMessage.getWheelRadius();
31 }
32
33 /**
34 * The value is the wheel separation, in meters. The wheel separation
35 * defines the distance between two wheels along the length (x axis) of the
36 * robot’s chassis.
37 *
38 * @return Returns wheel separation of the robot.
39 */
40 public double getWheelSeparation()
41 {
42 return lastMessage.getWheelSeparation();
43 }
44
45 /**
46 * The value is the wheel base, in meters. The wheel base defines the
47 * distance between two wheels along the width (y axis) of the robot’s
48 * chassis
49 *
50 * @return Retursn wheel base of the robot.
51 */
52 public double getWheelBase()
53 {
54 return lastMessage.getWheelBase();
55 }
56 }