RangeFeature

java.lang.Object
- lejos.robotics.objectdetection.RangeFeature

All Implemented Interfaces:

Feature
```
public class RangeFeature
extends java.lang.Object
implements Feature
```
This class is a basic data container for information retrieved about an object detected by sensors. The RangeFeature contains only the most basic range information of a detected object, which is RangeReading. The RangeReading contains range and angle data relative to the robot.

It can be extended to include more information, such as color. For example, a ColorFeature would rely on a ColorFeatureDetector to supply color information and range. The ColorFeatureDetector could extend FeatureDetector and accept a camera in the constructor to identify color of a detected object. This type of class would be useful to allow soccer robots to identify team-mates, the soccer ball, and the different goals.

Field Summary

Fields
Modifier and Type Field and Description

private Pose pose

private RangeReading rr

private RangeReadings rrs

private long timeStamp

Fields
Modifier and Type	Field and Description
`private Pose`	`pose`
`private RangeReading`	`rr`
`private RangeReadings`	`rrs`
`private long`	`timeStamp`

Constructor Summary

Constructors
Constructor and Description
`RangeFeature(RangeReading rr)` Creates a RangeFeature containing a single RangeReading.
`RangeFeature(RangeReadings rrs)` Creates a RangeFeature containing multiple RangeReadings.
`RangeFeature(RangeReadings rrs, Pose pose)` Creates a RangeFeature containing multiple RangeReadings.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`dumpObject(java.io.DataOutputStream dos)`
`Pose`	`getPose()`
`RangeReading`	`getRangeReading()` Returns the RangeReading for this particular detected feature.
`RangeReadings`	`getRangeReadings()` Returns a set of RangeReadings for a number of detected objects.
`long`	`getTimeStamp()` The time-stamp is the recorded system time when the range reading was taken.
`void`	`loadObject(java.io.DataInputStream dis)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - rr
```
private RangeReading rr
```
  - rrs
```
private RangeReadings rrs
```
  - timeStamp
```
private long timeStamp
```
  - pose
```
private Pose pose
```
- Constructor Detail
  - RangeFeature
```
public RangeFeature(RangeReading rr)
```
    Creates a RangeFeature containing a single RangeReading. If the getRangeReadings() method is subsequently called, it will return a RangeReadings set containing only one RangeReading (rr).
    
    Parameters:
    
    rr - The RangeReading.
  - RangeFeature
```
public RangeFeature(RangeReadings rrs)
```
    Creates a RangeFeature containing multiple RangeReadings. The getRangeReading() method will return the RangeReading with the smallest range.
    
    Parameters:
    
    rrs - A (@link RangeReadings} object containing a set of RangeReading values.
  - RangeFeature
```
public RangeFeature(RangeReadings rrs,
                    Pose pose)
```
    Creates a RangeFeature containing multiple RangeReadings. The getRangeReading() method will return the RangeReading with the smallest range.
    
    Parameters:
    
    rrs - A (@link RangeReadings} object containing a set of RangeReading values.
    
    pose - the pose of the robot when the reading was taken
- Method Detail
  - getRangeReading
```
public RangeReading getRangeReading()
```
    Description copied from interface: Feature
    
    Returns the RangeReading for this particular detected feature. If the sensor is capable of detecting multiple objects, this method will return the closest object it detected.
    
    Specified by:
    
    getRangeReading in interface Feature
    
    Returns:
    
    RangeReading object containing angle and range.
  - getTimeStamp
```
public long getTimeStamp()
```
    Description copied from interface: Feature
    
    The time-stamp is the recorded system time when the range reading was taken. This is generally recorded in the constructor of the Feature implementation. The time-stamp can help identify the vector of the detected object.
    
    Specified by:
    
    getTimeStamp in interface Feature
    
    Returns:
    
    The system time (in milliseconds) when the reading was taken.
  - getRangeReadings
```
public RangeReadings getRangeReadings()
```
    Description copied from interface: Feature
    
    Returns a set of RangeReadings for a number of detected objects. If the sensor is only capable of returning a single reading, or if only one object was detected, it will only contain one RangeReading in the set.
    
    Specified by:
    
    getRangeReadings in interface Feature
    
    Returns:
    
    RangeReadings object containing a set of RangeReading objects.
  - getPose
```
public Pose getPose()
```
  - dumpObject
```
public void dumpObject(java.io.DataOutputStream dos)
                throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - loadObject
```
public void loadObject(java.io.DataInputStream dis)
                throws java.io.IOException
```
    Throws:
    
    java.io.IOException

Class RangeFeature

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

rr

rrs

timeStamp

pose

Constructor Detail

RangeFeature

RangeFeature

RangeFeature

Method Detail

getRangeReading

getTimeStamp

getRangeReadings

getPose

dumpObject

loadObject