Package lejos.robotics.localization

Class CompassPoseProvider

java.lang.Object

lejos.robotics.localization.OdometryPoseProvider

lejos.robotics.localization.CompassPoseProvider

All Implemented Interfaces:

PoseProvider, MoveListener

public class CompassPoseProvider
extends OdometryPoseProvider

Pose Provider using a compass (or other direction finder) to provide location and heading data. Note: This is a temporary class to allow access compass data until we have a more encompassing solution for data from multiple instrumentation.

Field Summary

Fields

Modifier and Type	Field and Description
private DirectionFinder	compass

Fields inherited from class lejos.robotics.localization.OdometryPoseProvider

current, mp

Constructor Summary

Constructors

Constructor and Description
CompassPoseProvider(MoveProvider mp, DirectionFinder compass)

Method Summary

Modifier and Type	Method and Description
Pose	getPose() returns a new pose that represents the current location and heading of the robot.

Methods inherited from class lejos.robotics.localization.OdometryPoseProvider

fetchSample, moveStarted, moveStopped, sampleSize, setPose

Methods inherited from class java.lang.Object

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

Field Detail

compass

private DirectionFinder compass

Constructor Detail

CompassPoseProvider

public CompassPoseProvider(MoveProvider mp,
                           DirectionFinder compass)

Method Detail

getPose

public Pose getPose()

Description copied from class: OdometryPoseProvider

returns a new pose that represents the current location and heading of the robot. If called while the robot is moving, the PoseProvider will get updated odometry data from its MoveProvider

Specified by:

getPose in interface PoseProvider

Overrides:

getPose in class OdometryPoseProvider

Returns:

pose