Package lejos.robotics.navigation

Class Move

java.lang.Object

lejos.robotics.navigation.Move

public class Move
extends java.lang.Object

Models a movement performed by a pilot

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Move.MoveType The type of movement made in sufficient detail to allow errors in the movement to be modeled.

Field Summary

Fields

Modifier and Type	Field and Description
private float	angleTurned
private float	arcRadius
private float	distanceTraveled
private boolean	isMoving
private Move.MoveType	moveType
private float	rotateSpeed
private long	timeStamp
private float	travelSpeed

Constructor Summary

Constructors

Constructor and Description
Move(boolean isMoving, float angle, float turnRadius) Alternate constructor that uses angle and turn radius instead.
Move(float distance, float angle, boolean isMoving) Create a movement object to record a movement made by a pilot.
Move(Move.MoveType type, float distance, float angle, boolean isMoving) Create a movement object to record a movement made by a pilot.
Move(Move.MoveType type, float distance, float angle, float travelSpeed, float rotateSpeed, boolean isMoving) Create a movement object to record a movement made by a pilot.

Method Summary

Modifier and Type	Method and Description
private static Move.MoveType	calcMoveType(float distance, float angle) Helper method to calculate the MoveType based on distance, angle, radius parameters.
static float	convertAngleToDistance(float angle, float turnRadius) Static utility method for converting angle (given turn radius) into distance.
static float	convertDistanceToAngle(float distance, float turnRadius) Static utility method for converting distance (given turn radius) into angle.
void	dumpObject(java.io.DataOutputStream dos)
float	getAngleTurned() Get the angle turned by a rotate or an arc operation.
float	getArcRadius() Get the radius of the arc
float	getDistanceTraveled() Get the distance traveled.
Move.MoveType	getMoveType() Get the type of the movement performed
float	getRotateSpeed() Get the rotate speed
long	getTimeStamp() The time stamp is the system clock at the time the Move object is created.
float	getTravelSpeed() Get the travel speed
boolean	isMoving() Test if move was in progress
void	loadObject(java.io.DataInputStream dis)
void	setDynamics(float travelSpeed, float rotateSpeed) use this method to recycle an existing Move instead of creating a new one
void	setValues(Move.MoveType type, float distance, float angle, boolean isMoving) use this method to recycle an existing Move instead of creating a new one
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

distanceTraveled

private float distanceTraveled

angleTurned

private float angleTurned

moveType

private Move.MoveType moveType

arcRadius

private float arcRadius

isMoving

private boolean isMoving

timeStamp

private long timeStamp

travelSpeed

private float travelSpeed

rotateSpeed

private float rotateSpeed

Constructor Detail

Move

public Move(float distance,
            float angle,
            boolean isMoving)

Create a movement object to record a movement made by a pilot. This method automatically calculates the MoveType based on the data as follows:

(distance NOT 0) AND (angle NOT 0) --> ARC (distance = 0) AND (angle NOT 0) --> ROTATE (distance NOT 0) AND (angle = 0) --> TRAVEL (distance = 0) AND (angle = 0) --> STOP

Parameters:

distance - the distance traveled in pilot units

angle - the angle turned in degrees

isMoving - true iff the movement was created while the robot was moving

Move

public Move(Move.MoveType type,
            float distance,
            float angle,
            float travelSpeed,
            float rotateSpeed,
            boolean isMoving)

Create a movement object to record a movement made by a pilot.

Parameters:

type - the movement type

distance - the distance traveled in pilot units

angle - the angle turned in degrees

travelSpeed - the travel speed

rotateSpeed - the rotate speed

isMoving - true iff the movement was created while the robot was moving

Move

public Move(Move.MoveType type,
            float distance,
            float angle,
            boolean isMoving)

Create a movement object to record a movement made by a pilot.

Parameters:

type - the movement type

distance - the distance traveled in pilot units

angle - the angle turned in degrees

isMoving - true iff the movement was created while the robot was moving

Move

public Move(boolean isMoving,
            float angle,
            float turnRadius)

Alternate constructor that uses angle and turn radius instead. Useful for constructing arcs, but it can't represent a straight line of travel with a set distance (use the other constructor to specify distance). This method automatically calculates the MoveType based on the data as follows:

(radius NOT 0) AND (angle NOT 0) --> ARC (radius = 0) AND (angle NOT 0) --> ROTATE (radius = 0) AND (angle = 0) --> STOP (radius = +infinity) AND (angle = 0) --> TRAVEL NOTE: can't calculate distance based only on angle and radius, therefore distance can't be calculated and will equal NaN)