1 package cz.cuni.amis.pogamut.usar2004.agent.module.sensor;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.SensorType;
4 import javax.vecmath.Point4d;
5
6 /**
7 * Sensor message representative for Tachometer sensor.
8 *
9 * @author vejmanm
10 */
11 public class SensorTachometer extends SuperSensor
12 {
13 //public static final String type="Tachometoer";
14 public static final SensorType type = SensorType.TACHOMETER;
15
16 /**
17 * Ctor. Sensor type describes particular subject about which we want to
18 * know about. It is used to distinguish incoming message from the server.
19 */
20 public SensorTachometer()
21 {
22 super(type);
23 }
24
25 /**
26 * Velocity of the robot measured by Tachometer. Not in the USARSim manual
27 * v3.1.3.
28 *
29 * @return Returns velocity from Tachometer.
30 */
31 public Point4d getVelocity()
32 {
33 return lastMessage.getVelocity();
34 }
35
36 /**
37 * Position of the robot measured by Tachometer. Not in the USARSim manual
38 * v3.1.3.
39 *
40 * @return Returns position from Tachometer.
41 */
42 public Point4d getPosition()
43 {
44 //NOTE - really? tach has this property?
45 return lastMessage.getPosition();
46 }
47 }