1 package cz.cuni.amis.pogamut.usar2004.agent.module.geometry;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.GeometryType;
4 import javax.vecmath.Point3d;
5 import javax.vecmath.Vector3d;
6
7 /**
8 * Geometry message representative for Vehicles - Ground, Aerial, Legged and
9 * Nautic share properties present here.
10 *
11 * @author vejmanm
12 */
13 public abstract class VehicleGeometry extends SuperGeometry
14 {
15 /**
16 * Ctor.
17 *
18 * @param type Geometry type describes particular subject about which we
19 * want to know about. It is used to distinguish incoming message from the
20 * server.
21 */
22 public VehicleGeometry(GeometryType type)
23 {
24 super(type);
25 }
26
27 /**
28 * Dimension (x,y,z) ‘x’ defines the robot’s length, ‘y’ defines the robot’s
29 * width, and ‘z’ describes the robot’s height. Please note that these
30 * values are in meters.
31 *
32 * @return Returns Dimension of the robot.
33 */
34 public Vector3d getDimensions()
35 {
36 return lastMessage.getDimensions();
37 }
38
39 /**
40 * COG(x,y,z) ‘x’, ‘y’, and ‘z’ identify the position of the center of
41 * gravity, in meters, calculated from the chassis origin.
42 *
43 * @return Returns center of gravity of the robot
44 */
45 public Point3d getCenterOfGravity()
46 {
47 return lastMessage.getCenterOfGravity();
48 }
49 }