1 package cz.cuni.amis.pogamut.usar2004.agent.module.state;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.VehicleType;
4
5 /**
6 * State message representative for Nautic vehicle.
7 * @author vejmanm
8 */
9 public class StateNautic extends SuperState
10 {
11 public static final VehicleType type = VehicleType.NAUTIC_VEHICLE;
12
13 /**
14 * Ctor. State type describes particular subject about which we want to know
15 * about. It is used to distinguish incoming message from the server.
16 */
17 public StateNautic()
18 {
19 super(type);
20 }
21
22 /**
23 * Note: parameter only available for robots of “NauticVehicle” type.
24 * Current rudder angle of the robot, in radians.
25 *
26 * @return Returns rudder angle.
27 */
28 public double getRudderAngle()
29 {
30 return lastMessage.getRudderAngle();
31 }
32
33 /**
34 * Note: parameter only available for robots of “GroundVehicle” type.
35 * Current rear steer angle of the robot, in radians.
36 *
37 * @return Returns rear steer angle value.
38 */
39 public double getRudderSteer()
40 {
41 return lastMessage.getRearSteer();
42 }
43 }