EDU.cmu.cs.coral.simulation
Class LinearObstacleSim

java.lang.Object
  |
  +--EDU.cmu.cs.coral.simulation.LinearObstacleSim
Direct Known Subclasses:
LineSim

public class LinearObstacleSim
extends java.lang.Object
implements SimulatedLinearObject

a road for simulation.

Copyright (c)1998 Tucker Balch and Carnegie Mellon University


Field Summary
protected  double b
           
protected  Vec2 center
           
static boolean DEBUG
           
protected  Vec2 end
           
protected  double m
           
protected  double mrot
           
protected  double RADIUS
           
protected  Vec2 start
           
 
Constructor Summary
LinearObstacleSim()
          Instantiate a LinearObstacleSim object.
 
Method Summary
 boolean checkCollision(Circle2 c)
          determine if the object is intersecting with a specified circle.
 boolean checkCollision(Polygon2 p)
          determine if the object is intersecting with a specified polygon.
 void clearTrail()
          Clear the trail.
 void draw(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
          Draw the object.
 void draw(Vec2 pos, java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
          Draw the object in a specific spot.
 void drawIcon(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
          Draw the object as an icon.
 void drawID(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
          Draw the objects's ID.
 void drawState(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
          Draw the objects's State.
 void drawTrail(java.awt.Graphics g, int w, int h, double t, double b, double l, double r)
          Draw the objects's Trail.
 Vec2 getCenter(Vec2 from)
          Find the center point of the object from a particular location.
 Vec2 getClosestPoint(Vec2 from)
          Find the closest point on the object from a particular location.
 int getID()
          Return the id.
 Vec2 getPosition()
          Find the center point of the object in absolute coordinates.
 int getVisionClass()
          Return the vision class of the object.
 void init(double x, double y, double t, double r, java.awt.Color f, java.awt.Color back, int v, int i, long s)
          Initialize a LinearObstacleSim object.
 void init(double x1, double y1, double x2, double y2, double r, java.awt.Color f, java.awt.Color back, int v, int i, long s)
          Initialize a LinearObstacleSim object.
 boolean isObstacle()
          true if the object should be considered an obstacle, false otherwise.
 boolean isPickupable()
          true if the object can be picked up, false otherwise.
 boolean isPushable()
          true if the object is pushable false otherwise.
 void pickUp(SimulatedObject o)
          Try to pick up the object.
 void push(Vec2 d, Vec2 v)
          Try to push the object.
 void putDown(Vec2 p)
          Try to put down the object.
 void quit()
          Clean up.
 void receive(Message m)
          Receive a message.
 void setID(int i)
          Set the id of the object.
 void setTrailLength(int l)
          Set the length of the trail (in movement steps).
 void setVisionClass(int v)
          Change the way the object is perceived by vision hardware.
 void takeStep(long time_increment, SimulatedObject[] all_objs)
          Take a simulated step;
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

start

protected Vec2 start

end

protected Vec2 end

center

protected Vec2 center

m

protected double m

b

protected double b

mrot

protected double mrot

RADIUS

protected double RADIUS

DEBUG

public static final boolean DEBUG
Constructor Detail

LinearObstacleSim

public LinearObstacleSim()
Instantiate a LinearObstacleSim object. Be sure to also call init with proper values.
See Also:
init(double, double, double, double, java.awt.Color, java.awt.Color, int, int, long)
Method Detail

init

public void init(double x,
                 double y,
                 double t,
                 double r,
                 java.awt.Color f,
                 java.awt.Color back,
                 int v,
                 int i,
                 long s)
Initialize a LinearObstacleSim object. This is called automatically by JavaBotSim.
Parameters:
x - x coordinate of first point.
y - y coordinate of first point.
t - direction to second point.
r - distance to second point.
f - the foreground color.
b - ignored.
v - the vision class.
i - the unique id.
s - random number seed.

init

public void init(double x1,
                 double y1,
                 double x2,
                 double y2,
                 double r,
                 java.awt.Color f,
                 java.awt.Color back,
                 int v,
                 int i,
                 long s)
Initialize a LinearObstacleSim object. This is called automatically by JavaBotSim.
Specified by:
init in interface SimulatedLinearObject
Parameters:
x1 - x coordinate of first point.
y1 - y coordinate of first point.
x2 - x coordinate of second point.
y2 - y coordinate of second point.
r - the radius (width).
f - the foreground color.
b - ignored.
v - the vision class.
i - the unique id.
s - random number seed.

takeStep

public void takeStep(long time_increment,
                     SimulatedObject[] all_objs)
Take a simulated step;
Tags copied from interface: SimulatedObject
Parameters:
time_increment - how much time has elapsed since the last call.
all_objects - the other objects in the simulation.

isObstacle

public boolean isObstacle()
Description copied from interface: SimulatedObject
true if the object should be considered an obstacle, false otherwise.
Tags copied from interface: SimulatedObject
Returns:
true if the object should be considered an obstacle, false otherwise.

isPushable

public boolean isPushable()
Description copied from interface: SimulatedObject
true if the object is pushable false otherwise.
Tags copied from interface: SimulatedObject
Returns:
true if the object is pushable, false otherwise.

isPickupable

public boolean isPickupable()
Description copied from interface: SimulatedObject
true if the object can be picked up, false otherwise.
Tags copied from interface: SimulatedObject
Returns:
true if the object can be picked up, false otherwise.

getPosition

public Vec2 getPosition()
Description copied from interface: SimulatedObject
Find the center point of the object in absolute coordinates.
Tags copied from interface: SimulatedObject
Returns:
the point.

getClosestPoint

public Vec2 getClosestPoint(Vec2 from)
Description copied from interface: SimulatedObject
Find the closest point on the object from a particular location. This is useful for obstacle avoidance and so on.
Tags copied from interface: SimulatedObject
Parameters:
from - the place from which the point is determined.
Returns:
the closest point.

checkCollision

public boolean checkCollision(Circle2 c)
Description copied from interface: SimulatedObject
determine if the object is intersecting with a specified circle. This is useful for obstacle avoidance and so on.
Tags copied from interface: SimulatedObject
Parameters:
c - the circle which may be intersecting the current object.
Returns:
true if collision detected.

checkCollision

public boolean checkCollision(Polygon2 p)
Description copied from interface: SimulatedObject
determine if the object is intersecting with a specified polygon. This is useful for obstacle avoidance and so on.
Tags copied from interface: SimulatedObject
Parameters:
p - the polygon which may be intersecting the current object.
Returns:
true if collision detected.

getCenter

public Vec2 getCenter(Vec2 from)
Description copied from interface: SimulatedObject
Find the center point of the object from a particular location.
Tags copied from interface: SimulatedObject
Parameters:
from - the place from which the point is determined.
Returns:
the center point.

push

public void push(Vec2 d,
                 Vec2 v)
Description copied from interface: SimulatedObject
Try to push the object.
Tags copied from interface: SimulatedObject
Parameters:
d - the direction and distance of the push.
v - the velocity of the push.

pickUp

public void pickUp(SimulatedObject o)
Description copied from interface: SimulatedObject
Try to pick up the object.
Tags copied from interface: SimulatedObject
Parameters:
o - the object picking it up - this is used for drawing purposes.

receive

public void receive(Message m)
Description copied from interface: SimulatedObject
Receive a message. This is principally for robot to robot communication. Most objects can safely ignore this.
Tags copied from interface: SimulatedObject
Parameters:
m - the message.

putDown

public void putDown(Vec2 p)
Description copied from interface: SimulatedObject
Try to put down the object.
Tags copied from interface: SimulatedObject
Parameters:
p - the location of deposit.

setVisionClass

public void setVisionClass(int v)
Description copied from interface: SimulatedObject
Change the way the object is perceived by vision hardware. This can be used to make old targets invisible (a simulation hack.... sorry).
Tags copied from interface: SimulatedObject
Parameters:
v - the new vision class.

getVisionClass

public int getVisionClass()
Description copied from interface: SimulatedObject
Return the vision class of the object.
Tags copied from interface: SimulatedObject
Parameters:
v - the new vision class.

setID

public void setID(int i)
Description copied from interface: SimulatedObject
Set the id of the object.
Tags copied from interface: SimulatedObject
Parameters:
id - the new id.

getID

public int getID()
Description copied from interface: SimulatedObject
Return the id.

quit

public void quit()
Description copied from interface: SimulatedObject
Clean up.

drawID

public void drawID(java.awt.Graphics g,
                   int w,
                   int h,
                   double t,
                   double b,
                   double l,
                   double r)
Draw the objects's ID.
Tags copied from interface: SimulatedObject
Parameters:
g - graphics area to draw the object.
w - the width in pixels of g.
h - the height in pixels of g.
t - the y coordinate represented by the top boundary of the drawing area.
b - the y coordinate represented by the bottom boundary of the drawing area.
l - the x coordinate represented by the left boundary of the drawing area.
r - the x coordinate represented by the right boundary of the drawing area.

drawIcon

public void drawIcon(java.awt.Graphics g,
                     int w,
                     int h,
                     double t,
                     double b,
                     double l,
                     double r)
Draw the object as an icon. Default is just to do a regular draw.
Tags copied from interface: SimulatedObject
Parameters:
g - graphics area to draw the object.
w - the width in pixels of g.
h - the height in pixels of g.
t - the y coordinate represented by the top boundary of the drawing area.
b - the y coordinate represented by the bottom boundary of the drawing area.
l - the x coordinate represented by the left boundary of the drawing area.
r - the x coordinate represented by the right boundary of the drawing area.

drawState

public void drawState(java.awt.Graphics g,
                      int w,
                      int h,
                      double t,
                      double b,
                      double l,
                      double r)
Draw the objects's State.
Tags copied from interface: SimulatedObject
Parameters:
g - graphics area to draw the object.
w - the width in pixels of g.
h - the height in pixels of g.
t - the y coordinate represented by the top boundary of the drawing area.
b - the y coordinate represented by the bottom boundary of the drawing area.
l - the x coordinate represented by the left boundary of the drawing area.
r - the x coordinate represented by the right boundary of the drawing area.

setTrailLength

public void setTrailLength(int l)
Set the length of the trail (in movement steps). Non-robots can ignore this.
Parameters:
l - int, the length of the trail.

clearTrail

public void clearTrail()
Clear the trail. Non-robots can ignore this.

drawTrail

public void drawTrail(java.awt.Graphics g,
                      int w,
                      int h,
                      double t,
                      double b,
                      double l,
                      double r)
Draw the objects's Trail.
Tags copied from interface: SimulatedObject
Parameters:
g - graphics area to draw the object.
w - the width in pixels of g.
h - the height in pixels of g.
t - the y coordinate represented by the top boundary of the drawing area.
b - the y coordinate represented by the bottom boundary of the drawing area.
l - the x coordinate represented by the left boundary of the drawing area.
r - the x coordinate represented by the right boundary of the drawing area.

draw

public void draw(java.awt.Graphics g,
                 int w,
                 int h,
                 double t,
                 double b,
                 double l,
                 double r)
Draw the object.
Tags copied from interface: SimulatedObject
Parameters:
g - graphics area to draw the object.
w - the width in pixels of g.
h - the height in pixels of g.
t - the y coordinate represented by the top boundary of the drawing area.
b - the y coordinate represented by the bottom boundary of the drawing area.
l - the x coordinate represented by the left boundary of the drawing area.
r - the x coordinate represented by the right boundary of the drawing area.

draw

public void draw(Vec2 pos,
                 java.awt.Graphics g,
                 int w,
                 int h,
                 double t,
                 double b,
                 double l,
                 double r)
Draw the object in a specific spot.
Tags copied from interface: SimulatedObject
Parameters:
p - location to draw it at.
g - graphics area to draw the object.
w - the width in pixels of g.
h - the height in pixels of g.
t - the y coordinate represented by the top boundary of the drawing area.
b - the y coordinate represented by the bottom boundary of the drawing area.
l - the x coordinate represented by the left boundary of the drawing area.
r - the x coordinate represented by the right boundary of the drawing area.