org.myrobotlab.mapper.sim

Class EnvironmentDescription

java.lang.Object

org.myrobotlab.mapper.sim.EnvironmentDescription

Direct Known Subclasses:

Demo, SlamBad.MyEnv, TestSimbatch

public class EnvironmentDescription
extends java.lang.Object

This class is intend to describe easily a the world and its components. It is only used during the building process of the World and the Simulator. The user may specific colors and rendering attributes and add object which should be settled in the World (Arch,Box, Wall ..) It also adds the agent(s) which should be simulated.

Author:

Louis Hugues

Field Summary

Fields

Modifier and Type	Field and Description
javax.vecmath.Color3f	ambientLightColor
javax.vecmath.Color3f	archColor
javax.vecmath.Color3f	backgroundColor
javax.vecmath.Color3f	black
javax.vecmath.Color3f	blue
javax.vecmath.Color3f	boxColor
javax.vecmath.Color3f	darkgray
javax.vecmath.Color3f	floorColor
javax.vecmath.Color3f	gray
javax.vecmath.Color3f	green
boolean	hasAxis
javax.vecmath.Color3f	light1Color
boolean	light1IsOn
javax.vecmath.Vector3d	light1Position
javax.vecmath.Color3f	light2Color
boolean	light2IsOn
javax.vecmath.Vector3d	light2Position
javax.vecmath.Color3f	ligthgray
static int	NORMALS_REALISTIC
static int	NORMALS_SIMPLE
int	normalsStyle
javax.vecmath.Color3f	red
boolean	usePhysics if true the simulator uses physical laws.
javax.vecmath.Color3f	wallColor
javax.vecmath.Color3f	white
float	worldSize The size of the square containing the world
int	worldViewPoint

Constructor Summary

Constructors

Constructor and Description
EnvironmentDescription()

Method Summary

Modifier and Type	Method and Description
void	add(java.lang.Object object)
void	addMap(java.lang.String[] map)
void	light1SetPosition(double x, double y, double z)
void	light2SetPosition(double x, double y, double z)
void	setUsePhysics(boolean use)
void	setWorldSize(float size) Sets the size of the world.
void	showAxis(boolean show)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

white

public javax.vecmath.Color3f white

black

public javax.vecmath.Color3f black

red

public javax.vecmath.Color3f red

green

public javax.vecmath.Color3f green

blue

public javax.vecmath.Color3f blue

ligthgray

public javax.vecmath.Color3f ligthgray

gray

public javax.vecmath.Color3f gray

darkgray

public javax.vecmath.Color3f darkgray

ambientLightColor

public javax.vecmath.Color3f ambientLightColor

light1IsOn

public boolean light1IsOn

light1Color

public javax.vecmath.Color3f light1Color

light1Position

public javax.vecmath.Vector3d light1Position

light2Color

public javax.vecmath.Color3f light2Color

light2IsOn

public boolean light2IsOn

light2Position

public javax.vecmath.Vector3d light2Position

wallColor

public javax.vecmath.Color3f wallColor

archColor

public javax.vecmath.Color3f archColor

boxColor

public javax.vecmath.Color3f boxColor

floorColor

public javax.vecmath.Color3f floorColor

backgroundColor

public javax.vecmath.Color3f backgroundColor

worldViewPoint

public int worldViewPoint

hasAxis

public boolean hasAxis

normalsStyle

public int normalsStyle

NORMALS_SIMPLE

public static final int NORMALS_SIMPLE

See Also:

Constant Field Values

NORMALS_REALISTIC

public static final int NORMALS_REALISTIC

See Also:

Constant Field Values

usePhysics

public boolean usePhysics

if true the simulator uses physical laws.

worldSize

public float worldSize

The size of the square containing the world

Constructor Detail

EnvironmentDescription

public EnvironmentDescription()

Method Detail

add

public void add(java.lang.Object object)

addMap

public void addMap(java.lang.String[] map)

light1SetPosition

public void light1SetPosition(double x,
                              double y,
                              double z)

light2SetPosition

public void light2SetPosition(double x,
                              double y,
                              double z)

setUsePhysics

public void setUsePhysics(boolean use)

setWorldSize

public void setWorldSize(float size)

Sets the size of the world.

Parameters:

size - in meters.

showAxis

public void showAxis(boolean show)