org.myrobotlab.mapper.sim

Class SimpleAgent

java.lang.Object

org.myrobotlab.mapper.sim.BaseObject

org.myrobotlab.mapper.sim.SimpleAgent

Direct Known Subclasses:

Agent, BallAgent, CherryAgent

public class SimpleAgent
extends BaseObject

This is the base class for all kinds of physical agents.
Implementation note : the agent doesnt have synchronized methods. All thread refering to the agent should do explicit synchronization with synchronized(agent){...}..

Constructor Summary

Constructors

Constructor and Description
SimpleAgent(javax.vecmath.Vector3d pos, java.lang.String name) Constructs a SimpleAgent.

Method Summary

Modifier and Type	Method and Description
boolean	anOtherAgentIsVeryNear()
java.lang.String	asString() Returns printable description of the agent.
boolean	collisionDetected() Returns the state of the geometric collision indicator.
ActuatorDevice	getActuatorDevice(int num) Returns the actuator device designated by num.
java.util.ArrayList<ActuatorDevice>	getActuatorList()
void	getCoords(javax.vecmath.Point3d coord)
int	getCounter() Returns the agent counter.
int	getFramesPerSecond() Returns the number of behavior step per second, ie the nummber of time the performBehavior is called per second
float	getHeight() Returns the agent's height in meters.
double	getLifeTime() Returns the agent total lifetime since last reset (in seconds).
float	getMass()
java.lang.String	getName() Returns the agent's name.
float	getRadius() Returns the agent's radius in meters.
SensorDevice	getSensorDevice(int num) Returns the sensor device designated by num.
java.util.ArrayList<SensorDevice>	getSensorList()
SimpleAgent	getVeryNearAgent()
boolean	interactionDetected() Returns true if an interaction has been detected.
void	moveToPosition(double x, double z) Go to given XZ position.
void	moveToPosition(javax.vecmath.Vector3d position) Go to given position.
void	moveToStartPosition() Go to the start position of the agent.

Methods inherited from class org.myrobotlab.mapper.sim.BaseObject

attach, detach, getCanBeTraversed, getRotationTransform, getTranslationTransform, rotateY, setCanBeTraversed, setColor, translateTo

Methods inherited from class java.lang.Object

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

Constructor Detail

SimpleAgent

public SimpleAgent(javax.vecmath.Vector3d pos,
                   java.lang.String name)

Constructs a SimpleAgent.

Parameters:

pos - the starting position.

name - the name of the agent.

Method Detail

anOtherAgentIsVeryNear

public boolean anOtherAgentIsVeryNear()

Returns:

true if this agent is in physical contact with an other SimpleAgent.

asString

public java.lang.String asString()

Returns printable description of the agent. This may be multiline and complex in subclasses.

Returns:

agent description as string.

collisionDetected

public boolean collisionDetected()

Returns the state of the geometric collision indicator.

Returns:

collision indicator.

getActuatorDevice

public ActuatorDevice getActuatorDevice(int num)

Returns the actuator device designated by num. User will have to cast to the appropriate class.

Parameters:

num - n

Returns:

a ActuatorDevice Object.

getActuatorList

public java.util.ArrayList<ActuatorDevice> getActuatorList()

getCoords

public void getCoords(javax.vecmath.Point3d coord)

getCounter

public int getCounter()

Returns the agent counter. Counter is incrementented at each simulation step.

Returns:

agent step counter.

getFramesPerSecond

public int getFramesPerSecond()

Returns the number of behavior step per second, ie the nummber of time the performBehavior is called per second

Returns:

an int

getHeight

public float getHeight()

Returns the agent's height in meters.

Returns:

the agent height in meters.

getLifeTime

public double getLifeTime()

Returns the agent total lifetime since last reset (in seconds).

Returns:

lifetime in seconds.

getMass

public float getMass()

Returns:

Gets the agent's mass.

getName

public java.lang.String getName()

Returns the agent's name.

Returns:

agent's name .

getRadius

public float getRadius()

Returns the agent's radius in meters.

Returns:

the agent radius in meters.

getSensorDevice

public SensorDevice getSensorDevice(int num)

Returns the sensor device designated by num. User will have to cast to the appropriate class.

Parameters:

num - n

Returns:

a SensorDevice Object.

getSensorList

public java.util.ArrayList<SensorDevice> getSensorList()

getVeryNearAgent

public SimpleAgent getVeryNearAgent()

Returns:

the currently touched agent - null if no agent near.

interactionDetected

public boolean interactionDetected()

Returns true if an interaction has been detected.

Returns:

interaction indicator.

moveToPosition

public void moveToPosition(double x,
                           double z)

Go to given XZ position. Y coords is left unchanged. the new position.

Parameters:

x - the x coord

z - the z coord

moveToPosition

public void moveToPosition(javax.vecmath.Vector3d position)

Go to given position. Caution : set y coords to agent.height/2 you want the agent to touch the floor.

Parameters:

position - - the new position.

moveToStartPosition

public void moveToStartPosition()

Go to the start position of the agent.