Package lejos.robotics.localization

Class OdometryPoseProvider

java.lang.Object

lejos.robotics.localization.OdometryPoseProvider

All Implemented Interfaces:

PoseProvider, MoveListener

Direct Known Subclasses:

CompassPoseProvider

public class OdometryPoseProvider
extends java.lang.Object
implements PoseProvider, MoveListener

A PoseProvider keeps track of the robot Pose. It does this using odometry (dead reckoning) data contained in a Move, which is supplied by a MoveProvider. When the PoseProivder is constructed, it registers as listener with its MoveProvider,

Field Summary

Fields

Modifier and Type	Field and Description
private float	angle0
(package private) boolean	current
private float	distance0
private float	heading
(package private) MoveProvider	mp
private float	x
private float	y

Constructor Summary

Constructors

Constructor and Description
OdometryPoseProvider(MoveProvider mp) Allocates a new OdometryPoseProivder and registers it with the MovePovider as a listener.

Method Summary

Modifier and Type	Method and Description
void	fetchSample(float[] sample, int offset)
Pose	getPose() returns a new pose that represents the current location and heading of the robot.
void	moveStarted(Move move, MoveProvider mp) called by a MoveProvider when movement starts
void	moveStopped(Move move, MoveProvider mp) called by a MoveProvider when movement ends
private float	normalize(float angle)
int	sampleSize()
private void	setHeading(float heading)
void	setPose(Pose aPose)
private void	setPosition(Point p)
private void	updatePose(Move event)

Methods inherited from class java.lang.Object

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

Field Detail

x

private float x

y

private float y

heading

private float heading

angle0

private float angle0

distance0

private float distance0

mp

MoveProvider mp

current

boolean current

Constructor Detail

OdometryPoseProvider

public OdometryPoseProvider(MoveProvider mp)

Allocates a new OdometryPoseProivder and registers it with the MovePovider as a listener.

Method Detail

getPose

public Pose getPose()

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

Returns:

pose

moveStarted

public void moveStarted(Move move,
                        MoveProvider mp)

called by a MoveProvider when movement starts

Specified by:

moveStarted in interface MoveListener

Parameters:

move - - the event that just started

mp - the MoveProvider that called this method

setPose

public void setPose(Pose aPose)

Specified by:

setPose in interface PoseProvider

moveStopped

public void moveStopped(Move move,
                        MoveProvider mp)

called by a MoveProvider when movement ends

Specified by:

moveStopped in interface MoveListener

Parameters:

move - - the event that just started

mp -

updatePose

private void updatePose(Move event)

normalize

private float normalize(float angle)

setPosition

private void setPosition(Point p)

setHeading

private void setHeading(float heading)

sampleSize

public int sampleSize()

fetchSample

public void fetchSample(float[] sample,
                        int offset)