cz.cuni.amis.pogamut.usar2004.samples.AirScanner
Class ScanPreview

java.lang.Object
  java.awt.Component
      java.awt.Container
          java.awt.Window
              java.awt.Frame
                  javax.swing.JFrame
                      cz.cuni.amis.pogamut.usar2004.samples.AirScanner.ScanPreview

All Implemented Interfaces:

ImageObserver, MenuContainer, Serializable, Accessible, RootPaneContainer, WindowConstants

public class ScanPreview
extends JFrame

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class javax.swing.JFrame

JFrame.AccessibleJFrame

Nested classes/interfaces inherited from class java.awt.Frame

Frame.AccessibleAWTFrame

Nested classes/interfaces inherited from class java.awt.Window

Window.AccessibleAWTWindow

Nested classes/interfaces inherited from class java.awt.Container

Container.AccessibleAWTContainer

Nested classes/interfaces inherited from class java.awt.Component

Component.AccessibleAWTComponent, Component.BaselineResizeBehavior, Component.BltBufferStrategy, Component.FlipBufferStrategy

Field Summary

Record	record
Record	recordPrev
Point	translate

Fields inherited from class javax.swing.JFrame

accessibleContext, EXIT_ON_CLOSE, rootPane, rootPaneCheckingEnabled

Fields inherited from class java.awt.Frame

CROSSHAIR_CURSOR, DEFAULT_CURSOR, E_RESIZE_CURSOR, HAND_CURSOR, ICONIFIED, MAXIMIZED_BOTH, MAXIMIZED_HORIZ, MAXIMIZED_VERT, MOVE_CURSOR, N_RESIZE_CURSOR, NE_RESIZE_CURSOR, NORMAL, NW_RESIZE_CURSOR, S_RESIZE_CURSOR, SE_RESIZE_CURSOR, SW_RESIZE_CURSOR, TEXT_CURSOR, W_RESIZE_CURSOR, WAIT_CURSOR

Fields inherited from class java.awt.Component

BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT

Fields inherited from interface javax.swing.WindowConstants

DISPOSE_ON_CLOSE, DO_NOTHING_ON_CLOSE, HIDE_ON_CLOSE

Fields inherited from interface java.awt.image.ImageObserver

ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

Constructor Summary

ScanPreview()
Creates new form ScanPreview

Method Summary

void	issueRay(Graphics g, int index, double range, double angle, cz.cuni.amis.pogamut.base3d.worldview.object.Location loc, cz.cuni.amis.pogamut.base3d.worldview.object.Rotation rot) Utilizes all possible information from one ray.
void	paint(Graphics sharpGraphics) Double buffered system of repainting takes place here.
void	refreshGraphics() Invalidates the form.
void	runScanPreview()
void	saveImage(BufferedImage img, File outputfile) Saves an image to file system at specified path.
void	setDatFile(boolean write) Flag for saving the dat fila along with the output image
void	setDivPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location diversion) Adds a diversion point to local collection of Diversion Point.
void	setHighRiskPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location highRisk) Adds a point to local collection of High risk situation points.
void	setInfo(String text) Actualizes an info set that will be inserted to the white stripe on the preview form.
void	setLocation(cz.cuni.amis.pogamut.base3d.worldview.object.Location loc) Sets the estimated locatio nof the robot.
void	setLowRiskPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location lowRisk) Adds a point to local collection of Low risk situation points.
void	setOffset(int offset) The Robot keeps its altitude based on an avarage value of ten rays below the robot.
void	setOrientation(cz.cuni.amis.pogamut.base3d.worldview.object.Rotation rot) Sets the estimated rotation of the robot.
void	setPostInfo(String info) Actualizes an info set that will be inserted to the output image.
void	setRecord(Record rec) Adds a record of location and list of ranges from Range scanner.
void	setRechargeBreakPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location breakPoint) Adds a point to local collection of Battery_needed Points.
void	setSonars(Collection<Double> sonars) Sets the sonar data that bear an information about what is going on in front of the Robot.
void	setStartLocation(cz.cuni.amis.pogamut.base3d.worldview.object.Location start) Assd a start location point to local collection of Start Locations.

Methods inherited from class javax.swing.JFrame

addImpl, createRootPane, frameInit, getAccessibleContext, getContentPane, getDefaultCloseOperation, getGlassPane, getGraphics, getJMenuBar, getLayeredPane, getRootPane, getTransferHandler, isDefaultLookAndFeelDecorated, isRootPaneCheckingEnabled, paramString, processWindowEvent, remove, repaint, setContentPane, setDefaultCloseOperation, setDefaultLookAndFeelDecorated, setGlassPane, setIconImage, setJMenuBar, setLayeredPane, setLayout, setRootPane, setRootPaneCheckingEnabled, setTransferHandler, update

Methods inherited from class java.awt.Frame

addNotify, getCursorType, getExtendedState, getFrames, getIconImage, getMaximizedBounds, getMenuBar, getState, getTitle, isResizable, isUndecorated, remove, removeNotify, setCursor, setExtendedState, setMaximizedBounds, setMenuBar, setResizable, setState, setTitle, setUndecorated

Methods inherited from class java.awt.Window

addPropertyChangeListener, addPropertyChangeListener, addWindowFocusListener, addWindowListener, addWindowStateListener, applyResourceBundle, applyResourceBundle, createBufferStrategy, createBufferStrategy, dispose, getBufferStrategy, getFocusableWindowState, getFocusCycleRootAncestor, getFocusOwner, getFocusTraversalKeys, getGraphicsConfiguration, getIconImages, getInputContext, getListeners, getLocale, getModalExclusionType, getMostRecentFocusOwner, getOwnedWindows, getOwner, getOwnerlessWindows, getToolkit, getWarningString, getWindowFocusListeners, getWindowListeners, getWindows, getWindowStateListeners, hide, isActive, isAlwaysOnTop, isAlwaysOnTopSupported, isFocusableWindow, isFocusCycleRoot, isFocused, isLocationByPlatform, isShowing, pack, postEvent, processEvent, processWindowFocusEvent, processWindowStateEvent, removeWindowFocusListener, removeWindowListener, removeWindowStateListener, reshape, setAlwaysOnTop, setBounds, setBounds, setCursor, setFocusableWindowState, setFocusCycleRoot, setIconImages, setLocationByPlatform, setLocationRelativeTo, setMinimumSize, setModalExclusionType, setSize, setSize, setVisible, show, toBack, toFront

Methods inherited from class java.awt.Container

add, add, add, add, add, addContainerListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getAlignmentX, getAlignmentY, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getComponentZOrder, getContainerListeners, getFocusTraversalPolicy, getInsets, getLayout, getMaximumSize, getMinimumSize, getMousePosition, getPreferredSize, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusTraversalPolicyProvider, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, print, printComponents, processContainerEvent, remove, removeAll, removeContainerListener, setComponentZOrder, setFocusTraversalKeys, setFocusTraversalPolicy, setFocusTraversalPolicyProvider, setFont, transferFocusBackward, transferFocusDownCycle, validate, validateTree

Methods inherited from class java.awt.Component

action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, coalesceEvents, contains, contains, createImage, createImage, createVolatileImage, createVolatileImage, disable, disableEvents, dispatchEvent, enable, enable, enableEvents, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getBackground, getBaseline, getBaselineResizeBehavior, getBounds, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getFontMetrics, getForeground, getHeight, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocation, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMousePosition, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getSize, getTreeLock, getWidth, getX, getY, gotFocus, handleEvent, hasFocus, checkImage, checkImage, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isDoubleBuffered, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isMaximumSizeSet, isMinimumSizeSet, isOpaque, isPreferredSizeSet, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, prepareImage, prepareImage, printAll, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processKeyEvent, processMouseEvent, processMouseMotionEvent, processMouseWheelEvent, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, resize, resize, setBackground, setComponentOrientation, setDropTarget, setEnabled, setFocusable, setFocusTraversalKeysEnabled, setForeground, setIgnoreRepaint, setLocale, setLocation, setLocation, setMaximumSize, setName, setPreferredSize, show, size, toString, transferFocus, transferFocusUpCycle

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface java.awt.MenuContainer

getFont, postEvent

Field Detail

translate

public Point translate

record

public Record record

recordPrev

public Record recordPrev

Constructor Detail

ScanPreview

public ScanPreview()

Creates new form ScanPreview

Method Detail

runScanPreview

public void runScanPreview()

saveImage

public void saveImage(BufferedImage img,
                      File outputfile)

Saves an image to file system at specified path.

Parameters:

img - Image to save.

path - Path to save image to.

paint

public void paint(Graphics sharpGraphics)

Double buffered system of repainting takes place here.

Overrides:

paint in class Window

Parameters:

sharpGraphics - Graphics to show.

issueRay

public void issueRay(Graphics g,
                     int index,
                     double range,
                     double angle,
                     cz.cuni.amis.pogamut.base3d.worldview.object.Location loc,
                     cz.cuni.amis.pogamut.base3d.worldview.object.Rotation rot)

Utilizes all possible information from one ray. Draws a situtaion in the left white stripe and records data to scanning preview. Ranges longer than 19.5 are ignoret for the range scanner has range of 20-noise.

Parameters:

g - Graphics to write to.

index - Index of the ray.

range - Range measured.

angle - Angle of the ray.

loc - Robot's location.

rot - Robot's orientation.

setOffset

public void setOffset(int offset)

The Robot keeps its altitude based on an avarage value of ten rays below the robot. The offset is computed based on Robots roll, so if the Robot gets itself to a tilt position it needs to be able to correctly estimate the rays heading straight towards the ground.

Parameters:

offset - Index of the first ray of the bunch which are used to estimate an altitude of the Robot

setSonars

public void setSonars(Collection<Double> sonars)

Sets the sonar data that bear an information about what is going on in front of the Robot.

Parameters:

sonars - Collection of double values sorted from left to right.

setDivPoint

public void setDivPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location diversion)

Adds a diversion point to local collection of Diversion Point.

Parameters:

diversion - Location of a point that pulls the Robot out of crisis sitation.

setStartLocation

public void setStartLocation(cz.cuni.amis.pogamut.base3d.worldview.object.Location start)

Assd a start location point to local collection of Start Locations.

Parameters:

start - A location that signifies where the robot started from.

setRechargeBreakPoint

public void setRechargeBreakPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location breakPoint)

Adds a point to local collection of Battery_needed Points.

Parameters:

breakPoint - Location of a point when the scanning process was interrupted by low battery level.

setHighRiskPoint

public void setHighRiskPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location highRisk)

Adds a point to local collection of High risk situation points.

Parameters:

highRisk - Location of a point where the robot was in high risk situation.

setLowRiskPoint

public void setLowRiskPoint(cz.cuni.amis.pogamut.base3d.worldview.object.Location lowRisk)

Adds a point to local collection of Low risk situation points.

Parameters:

lowRisk - Location of a point where the robot was in low risk situation.

setRecord

public void setRecord(Record rec)

Adds a record of location and list of ranges from Range scanner.

Parameters:

rec - Object from the robot's sensor estimating location and ranges of Range scanner.

setPostInfo

public void setPostInfo(String info)

Actualizes an info set that will be inserted to the output image.

Parameters:

info - Set of name/value pairs to write to the output image.

setDatFile

public void setDatFile(boolean write)

Flag for saving the dat fila along with the output image

Parameters:

write - True to save a *.dat file, false to not.

refreshGraphics

public void refreshGraphics()

Invalidates the form.

setInfo

public void setInfo(String text)

Actualizes an info set that will be inserted to the white stripe on the preview form.

Parameters:

text - Set of name/value pairs to write to the white stripe on the preview form.

setOrientation

public void setOrientation(cz.cuni.amis.pogamut.base3d.worldview.object.Rotation rot)

Sets the estimated rotation of the robot.

Parameters:

rot - Orientation of the robot

setLocation

public void setLocation(cz.cuni.amis.pogamut.base3d.worldview.object.Location loc)

Sets the estimated locatio nof the robot.

Parameters:

loc - Location of the robot.