1 package cz.cuni.amis.pogamut.usar2004.agent.module.sensor;
2
3 import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
4 import cz.cuni.amis.pogamut.base3d.worldview.object.Rotation;
5 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.SensorType;
6
7 /**
8 * Sensor message representative for INS sensor.
9 *
10 * @author vejmanm
11 */
12 public class SensorINS extends SuperSensor
13 {
14 //public static final String type="INS";
15 public static final SensorType type = SensorType.INS_SENSOR;
16
17 /**
18 * Ctor. Sensor type describes particular subject about which we want to
19 * know about. It is used to distinguish incoming message from the server.
20 */
21 public SensorINS()
22 {
23 super(type);
24 }
25
26 /**
27 * Location used by INS sensor to determine robots location.
28 *
29 * @return Returns Location from INS sensor.
30 */
31 public Location getLocation()
32 {
33 return lastMessage.getLocations().get(0);
34 }
35
36 /**
37 * INS sensor entry in USARSim manual v3.1.3 suggests that it should need
38 * more than one record of Orienation, but the experience was different.
39 * Still we use list of Rotations to support multiple entry. Mainly used for
40 * determination of robots Orientation. Here we offer only the first Record.
41 *
42 * @return Returns Rotation from INS sensor.
43 */
44 public Rotation getOrientation()
45 {
46 return lastMessage.getOrientations().get(0);
47 }
48 }