1 package cz.cuni.amis.pogamut.usar2004.agent.module.geometry;
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.GeometryType;
6 import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.SensorMount;
7 import java.util.List;
8
9 /**
10 * Geometry message representative for Sensors and Effecters.
11 *
12 * @author vejmanm
13 */
14 public class GeoSensorEffecter extends SuperGeometry
15 {
16 public static final GeometryType type = GeometryType.SENSOR_EFFECTER;
17
18 /**
19 * Ctor. Geometry type describes particular subject about which we
20 * want to know about. It is used to distinguish incoming message from the
21 * server.
22 */
23 public GeoSensorEffecter()
24 {
25 super(type);
26 }
27
28 /**
29 * Returns size of collection of sensor mounts.
30 *
31 * @return Returns size of collection of sensor mounts.
32 */
33 public int getSize()
34 {
35 return lastMessage.getSenEffGeo().size();
36 }
37
38 /**
39 * Camera, Sensor and effecter mounts are composed from Name, Location,
40 * Orientaion and Mount name. Returns null if none matches.
41 *
42 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
43 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
44 *
45 * @return Returns a Lotaion of sensor mount matching input <b>Name</b>.
46 */
47 public Location getLocationBy(String Name)
48 {
49 SensorMount sen = getSensorEffecterBy(Name);
50 if(sen == null)
51 {
52 return null;
53 }
54 return sen.getLocation();
55 }
56
57 /**
58 * Camera, Sensor and effecter mounts are composed from Name, Location,
59 * Orientaion and Mount name. Returns null if none matches.
60 *
61 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
62 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
63 *
64 * @return Returns a Location of sensor mount at given index.
65 */
66 public Location getLocationAt(int index)
67 {
68 SensorMount sen = getSensorEffecterAt(index);
69 if(sen == null)
70 {
71 return null;
72 }
73 return sen.getLocation();
74 }
75
76 /**
77 * Camera, Sensor and effecter mounts are composed from Name, Location,
78 * Orientaion and Mount name. Returns null if none matches.
79 *
80 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
81 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
82 *
83 * @return Returns a Mount name of sensor mount matching input <b>Name</b>.
84 */
85 public String getMountBy(String Name)
86 {
87 SensorMount sen = getSensorEffecterBy(Name);
88 if(sen == null)
89 {
90 return null;
91 }
92 return sen.getMount();
93 }
94
95 /**
96 * Camera, Sensor and effecter mounts are composed from Name, Location,
97 * Orientaion and Mount name. Returns null if none matches.
98 *
99 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
100 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
101 *
102 * @return Returns a Mount name of sensor mount at given index.
103 */
104 public String getMountAt(int index)
105 {
106 SensorMount sen = getSensorEffecterAt(index);
107 if(sen == null)
108 {
109 return null;
110 }
111 return sen.getMount();
112 }
113
114 /**
115 * Camera, Sensor and effecter mounts are composed from Name, Location,
116 * Orientaion and Mount name. Returns null if none matches.
117 *
118 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
119 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
120 *
121 * @return Returns an orientation of sensor mount matching input
122 * <b>Name</b>.
123 */
124 public Rotation getOrientationBy(String Name)
125 {
126 SensorMount sen = getSensorEffecterBy(Name);
127 if(sen == null)
128 {
129 return null;
130 }
131 return sen.getOrientation();
132 }
133
134 /**
135 * Camera, Sensor and effecter mounts are composed from Name, Location,
136 * Orientaion and Mount name. Returns null if none matches.
137 *
138 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
139 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
140 *
141 * @return Returns an orientation of sensor mount at given index.
142 */
143 public Rotation getOrientationAt(int index)
144 {
145 SensorMount sen = getSensorEffecterAt(index);
146 if(sen == null)
147 {
148 return null;
149 }
150 return sen.getOrientation();
151 }
152
153 /**
154 * Camera, Sensor and effecter mounts are composed from Name, Location,
155 * Orientaion and Mount name.
156 *
157 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
158 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
159 *
160 * @return Returns a sensor mount matching an input <b>Name</b>.
161 */
162 public SensorMount getSensorEffecterBy(String Name)
163 {
164 for(SensorMount item : lastMessage.getSenEffGeo())
165 {
166 if(item.getName().equalsIgnoreCase(Name))
167 {
168 return item;
169 }
170 }
171 return null;
172 }
173
174 /**
175 * Camera, Sensor and effecter mounts are composed from Name, Location,
176 * Orientaion and Mount name.
177 *
178 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
179 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
180 *
181 * @return Returns a sensor mount at given index.
182 */
183 public SensorMount getSensorEffecterAt(int index)
184 {
185 if(index < getSize())
186 {
187 return lastMessage.getSenEffGeo().get(index);
188 }
189 return null;
190 }
191
192 /**
193 * Camera, Sensor and effecter mounts are composed from Name, Location,
194 * Orientaion and Mount name.
195 *
196 * Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613
197 * Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
198 *
199 * @return Returns a collection of sensor mounts.
200 */
201 public List<SensorMount> getSensorMountCollection()
202 {
203 return lastMessage.getSenEffGeo();
204 }
205 }