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java.lang.Objectcz.cuni.amis.pogamut.base.communication.messages.InfoMessage
cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent
cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.ConfigurationMessage
public class ConfigurationMessage
Configuration message occurs after user has sent a command GetConf. Please note that the robot Configuration message parameters depend on the type of robot that you are driving. For example, a robot of type “GroundVehicle” will not have the same Configuration message as a robot of type “AerialVehicle.” * Corresponding GameBots message is CONF.
Field Summary | |
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protected Map<String,String> |
Features
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protected List<String> |
JointTypes
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protected List<Integer> |
Links
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protected double |
Mass
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protected double |
MaxFrontSteer
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protected List<Double> |
MaxRanges
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protected double |
MaxRearSteer
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protected List<Double> |
MaxSpeeds
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protected List<Double> |
MaxTorques
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protected List<Double> |
MaxVals
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protected List<Double> |
MinRanges
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protected List<Double> |
MinVals
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protected String |
Name
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protected List<String> |
Names
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protected List<String> |
Opcodes
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static String |
PROTOTYPE
Example how the message looks like - used during parser tests. |
protected String |
SteeringType
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protected String |
Type
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Constructor Summary | |
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ConfigurationMessage()
Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package). |
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ConfigurationMessage(ConfigurationMessage original)
Cloning constructor. |
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ConfigurationMessage(String Type,
double MaxFrontSteer,
double MaxRearSteer,
double Mass,
String SteeringType)
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Method Summary | |
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Map<String,String> |
getFeatures()
For a camera, sensor or effecter, a configuration message conatins a pair ?{Name Value}’ that describes the feature of this sensor type. |
List<String> |
getJointTypes()
Each value can either be “Revolute” or “Prismatic”, as determined by the type of joint being described. |
List<Integer> |
getLinks()
Each value is the mission package’s link number(or index) that is described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min Range. |
double |
getMass()
It is the robot's mass in kg. |
double |
getMaxFrontSteer()
The maximum steering angle for robot’s front wheels, in radians. |
List<Double> |
getMaxRanges()
For a revolute joint, Each value is the maximum absolute angle that the joint can rotate to. |
double |
getMaxRearSteer()
The maximum steering angle for robot’s rear wheels, in radians. |
List<Double> |
getMaxSpeeds()
Each value describes the joint’s maximum speed, in rad/s. |
List<Double> |
getMaxTorques()
Each value describes the joint’s maximum torque. |
List<Double> |
getMaxVals()
It is value that indicates the upper bound for the value that is accepted by the effecter. |
List<Double> |
getMinRanges()
For a revolute joint, Each value is the minimum absolute angle that the joint can rotate to. |
List<Double> |
getMinVals()
It is value that indicates the lower bound for the value that is accepted by the effecter. |
String |
getName()
Name of the subject that this geometry message concerns. |
List<String> |
getNames()
For an effector, the configuration message can contain multiple names. |
List<String> |
getOpcodes()
For an effector, the configuration message can contain multiple OpCodes. |
String |
getSteeringType()
Value should be one of the following: “AckermanSteered” or “SkidSteered” or “OmniDrive”, as dictated by the steering type of the robot. |
String |
getType()
Type describes the vehicle type. |
String |
toHtmlString()
Gets all properties and values to create a HTML formated string; |
String |
toString()
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Methods inherited from class cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent |
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getSimTime, getWorldEvent |
Methods inherited from class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage |
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toJsonLiteral |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Methods inherited from interface cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent |
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getSimTime |
Methods inherited from interface cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent |
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getSimTime |
Field Detail |
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public static final String PROTOTYPE
protected String Type
protected String Name
protected String SteeringType
protected double Mass
protected double MaxFrontSteer
protected double MaxRearSteer
protected Map<String,String> Features
protected List<String> Names
protected List<String> Opcodes
protected List<Double> MaxVals
protected List<Double> MinVals
protected List<Integer> Links
protected List<String> JointTypes
protected List<Double> MaxSpeeds
protected List<Double> MaxTorques
protected List<Double> MaxRanges
protected List<Double> MinRanges
Constructor Detail |
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public ConfigurationMessage(String Type, double MaxFrontSteer, double MaxRearSteer, double Mass, String SteeringType)
public ConfigurationMessage(ConfigurationMessage original)
public ConfigurationMessage()
Method Detail |
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public String getType()
public String getName()
public String getSteeringType()
public double getMass()
public double getMaxFrontSteer()
public double getMaxRearSteer()
public Map<String,String> getFeatures()
public List<String> getNames()
public List<String> getOpcodes()
public List<Double> getMaxVals()
public List<Double> getMinVals()
public List<Integer> getLinks()
public List<String> getJointTypes()
public List<Double> getMaxSpeeds()
public List<Double> getMaxTorques()
public List<Double> getMaxRanges()
public List<Double> getMinRanges()
public String toString()
toString
in class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage
public String toHtmlString()
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