edu.cmu.emulator.world
Class MovableObject

java.lang.Object
  edu.cmu.emulator.world.MovableObject

Direct Known Subclasses:

Antenna, EmuNode

public class MovableObject
extends Object

Represents the general MovableObject. It tracks the object's position, velocity, etc in the emulated world.

Position and navigation attributes should not be set directly. Instead, navigation methods should be invoked to set these attributes. This allows for proper handling of listener code and termination of ongoing navigation.

EmuNode and Antenna extend this class.

See the world documentation for more information.

Field Summary

protected RelVector	accelerationMPS2
protected HashMap	attributeMap
protected ArrayList	children
private static boolean	debugListeners
private static boolean	debugSegment
protected DirRelOrientationMatrix	dirOrientation relative orientation computed from the velocityMPS
protected GroupWorker	groupWorker
static int	ID_ACCELERATION_MPS2
static int	ID_ORIENTATION
static int	ID_POSITION
static int	ID_ROTATION
static int	ID_VELOCITY_MPS
protected String	name
protected Navigator	navigator
static int	OM_PARENT
static int	OM_VELOCITY
protected RelOrientationMatrix	orientation relative orientation in parent's reference frame
protected int	orientationMode The value is OM_PARENT or OM_VELOCITY.
protected MovableObject	parent
protected RelPositionVector	position relative position in parent's reference frame
protected RelVector	rotation
protected long	segmentEndMillis
protected double[]	segmentEndPos
protected ListenerManager	segmentListenerManager
protected long	segmentStartMillis
protected double[]	segmentStartPos
protected String	uName
protected RelVector	velocityMPS

Constructor Summary

MovableObject()
Construct a MovableObject with the world as parent

MovableObject(MovableObject parent)
Construct a MovableObject with the given parent

Method Summary

void	addChild(MovableObject child)
void	addSegmentListener(SegmentListener listener, int threadMode)
void	addWaypointListener(WaypointListener wpl)
void	addWaypointListener(WaypointListener wpl, int threadMode)
(package private) void	endSegment() Called by system code
void	fixOrientation(double[][] newOrientation) Set to a fixed orientation.
double[]	getAbsAcceleration()
void	getAbsAcceleration(double[] accel)
double[][]	getAbsOrientation() Get the absolute orientation .
void	getAbsOrientation(double[][] oMatrix)
double[]	getAbsPosition()
void	getAbsPosition(double[] pos)
double[]	getAbsRotation()
void	getAbsRotation(double[] vel)
double[]	getAbsVelocity()
void	getAbsVelocity(double[] vel)
RelVector	getAcceleration()
Object	getAttribute(String name)
MovableObject	getChild(int index)
double	getDistance(MovableObject other) Calculates the distance between this object and another MovableObject.
String	getName()
int	getNumChildren()
RelOrientationMatrix	getOrientation()
void	getOrientation(double[][] oMatrix)
int	getOrientationMode() Get the orientation mode
MovableObject	getParent()
RelPositionVector	getPosition()
RelVector	getRotation()
String	getUName()
RelVector	getVelocity()
boolean	isMoving() Checks if the node is in motion in the world..
void	moveToOverTime(double[] rPos, double timeSecs) Move to a given position over a given time interval.
void	moveToOverTime(double[] rPos, double timeSecs, long startTimeSecs) Move to a given position over a given time interval starting at the specified time.
void	moveToOverTime(double[] rPos, long timeMillis) Move to a given position over a given time interval.
void	moveToOverTime(double[] rPos, long timeMillis, long startTimeMillis) Move to a given position over a given time interval starting at the specified time.
void	moveToWithSpeed(double[] rPos, double speedMPS) Move to a given position at a given speed.
void	moveToWithSpeed(double[] rPos, double speedMPS, double startTimeSecs) Move to a given position at a given speed at a given start time.
void	moveToWithSpeed(double[] rPos, double speedMPS, long startTimeMillis) Move to a given position at a given speed at a given start time.
protected void	notifySegmentListeners(long timeMillis, boolean atStart)
void	removeSegmentListener(SegmentListener listener)
void	removeWaypointListener(WaypointListener wpl)
void	setAttribute(String name, Object value)
void	setName(String name)
void	setOrientationMode(int orientationMode) Set the orientation mode.
void	setStationaryAtPos(double[] rPos) Set the node to a specific position, and make it stationary.
void	setUName(String name)
void	startRoute(Route newRoute) Start navigation of a route.
(package private) void	startSegment(long startTimeMillis, long navTimeMillis, double[] segmentStartPos, double[] segmentEndPos) Called by system code
(package private) void	stopInPlace(long timeMillis) Called by system code
void	update(long timeMillis) Called by system code

Methods inherited from class java.lang.Object

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

Field Detail

name

protected String name

uName

protected String uName

position

protected RelPositionVector position

relative position in parent's reference frame

velocityMPS

protected RelVector velocityMPS

accelerationMPS2

protected RelVector accelerationMPS2

orientation

protected RelOrientationMatrix orientation

relative orientation in parent's reference frame

dirOrientation

protected DirRelOrientationMatrix dirOrientation

relative orientation computed from the velocityMPS

orientationMode

protected int orientationMode

The value is OM_PARENT or OM_VELOCITY.
OM_VELOCITY: the parent of orientation is dirOrientation
OM_PARENT : the parent of orientation is MovableObject.parent.orientation
default value is OM_VELOCITY

rotation

protected RelVector rotation

ID_POSITION

public static final int ID_POSITION

See Also:

Constant Field Values

ID_VELOCITY_MPS

public static final int ID_VELOCITY_MPS

See Also:

Constant Field Values

ID_ACCELERATION_MPS2

public static final int ID_ACCELERATION_MPS2

See Also:

Constant Field Values

ID_ORIENTATION

public static final int ID_ORIENTATION

See Also:

Constant Field Values

ID_ROTATION

public static final int ID_ROTATION

See Also:

Constant Field Values

OM_PARENT

public static final int OM_PARENT

See Also:

Constant Field Values

OM_VELOCITY

public static final int OM_VELOCITY

See Also:

Constant Field Values

parent

protected MovableObject parent

children

protected ArrayList children

segmentListenerManager

protected ListenerManager segmentListenerManager

groupWorker

protected GroupWorker groupWorker

attributeMap

protected HashMap attributeMap

segmentStartMillis

protected long segmentStartMillis

segmentEndMillis

protected long segmentEndMillis

segmentStartPos

protected double[] segmentStartPos

segmentEndPos

protected double[] segmentEndPos

navigator

protected Navigator navigator

debugListeners

private static final boolean debugListeners

See Also:

Constant Field Values

debugSegment

private static final boolean debugSegment

See Also:

Constant Field Values

Constructor Detail

MovableObject

public MovableObject(MovableObject parent)

Construct a MovableObject with the given parent

MovableObject

public MovableObject()

Construct a MovableObject with the world as parent

Method Detail

setOrientationMode

public void setOrientationMode(int orientationMode)

Set the orientation mode.
OM_PARENT - relative to parent's reference frame.
OM_VELOCITY - relative to this objects velocity within its parent's reference frame.

See Also:

orientationMode

getOrientationMode

public int getOrientationMode()

Get the orientation mode

getParent

public MovableObject getParent()

setName

public void setName(String name)

getName

public String getName()

setUName

public void setUName(String name)

getUName

public String getUName()

getNumChildren

public int getNumChildren()

getChild

public MovableObject getChild(int index)

addChild

public void addChild(MovableObject child)

getPosition

public RelPositionVector getPosition()

getAbsPosition

public double[] getAbsPosition()

getAbsPosition

public void getAbsPosition(double[] pos)

getVelocity

public RelVector getVelocity()

getAbsVelocity

public double[] getAbsVelocity()

getAbsVelocity

public void getAbsVelocity(double[] vel)

getAcceleration

public RelVector getAcceleration()

getAbsAcceleration

public double[] getAbsAcceleration()

getAbsAcceleration

public void getAbsAcceleration(double[] accel)

getOrientation

public RelOrientationMatrix getOrientation()

getAbsOrientation

public double[][] getAbsOrientation()

Get the absolute orientation .

Returns:

double[][]

getAbsOrientation

public void getAbsOrientation(double[][] oMatrix)

getOrientation

public void getOrientation(double[][] oMatrix)

getRotation

public RelVector getRotation()

getAbsRotation

public double[] getAbsRotation()

getAbsRotation

public void getAbsRotation(double[] vel)

startRoute

public void startRoute(Route newRoute)

Start navigation of a route. Terminates any previous ongoing navigation.

isMoving

public boolean isMoving()

Checks if the node is in motion in the world..

Returns:

true of the node is moving towards its destination, false otherwise.

getDistance

public double getDistance(MovableObject other)

Calculates the distance between this object and another MovableObject. Abs consistency is loose.

Parameters:

other - distance of object to measure to

Returns:

the distance between the objects.

addSegmentListener

public void addSegmentListener(SegmentListener listener,
                               int threadMode)

removeSegmentListener

public void removeSegmentListener(SegmentListener listener)

notifySegmentListeners

protected void notifySegmentListeners(long timeMillis,
                                      boolean atStart)

addWaypointListener

public void addWaypointListener(WaypointListener wpl,
                                int threadMode)

addWaypointListener

public void addWaypointListener(WaypointListener wpl)

removeWaypointListener

public void removeWaypointListener(WaypointListener wpl)

getAttribute

public Object getAttribute(String name)

setAttribute

public void setAttribute(String name,
                         Object value)

setStationaryAtPos

public void setStationaryAtPos(double[] rPos)

Set the node to a specific position, and make it stationary. Terminates any previous ongoing navigation.

moveToWithSpeed

public void moveToWithSpeed(double[] rPos,
                            double speedMPS)

Move to a given position at a given speed. Terminates any previous ongoing navigation.

moveToWithSpeed

public void moveToWithSpeed(double[] rPos,
                            double speedMPS,
                            double startTimeSecs)

Move to a given position at a given speed at a given start time. Terminates any previous ongoing navigation.

moveToWithSpeed

public void moveToWithSpeed(double[] rPos,
                            double speedMPS,
                            long startTimeMillis)

Move to a given position at a given speed at a given start time. Terminates any previous ongoing navigation.

moveToOverTime

public void moveToOverTime(double[] rPos,
                           double timeSecs)

Move to a given position over a given time interval. Terminates any previous ongoing navigation.

moveToOverTime

public void moveToOverTime(double[] rPos,
                           double timeSecs,
                           long startTimeSecs)

Move to a given position over a given time interval starting at the specified time. Terminates any previous ongoing navigation.

moveToOverTime

public void moveToOverTime(double[] rPos,
                           long timeMillis)

Move to a given position over a given time interval. Terminates any previous ongoing navigation.

moveToOverTime

public void moveToOverTime(double[] rPos,
                           long timeMillis,
                           long startTimeMillis)

Move to a given position over a given time interval starting at the specified time. Terminates any previous ongoing navigation.

fixOrientation

public void fixOrientation(double[][] newOrientation)

Set to a fixed orientation. Terminates any previous ongoing navigation.

Parameters:

newOrientation - double[][]

startSegment

void startSegment(long startTimeMillis,
                  long navTimeMillis,
                  double[] segmentStartPos,
                  double[] segmentEndPos)

Called by system code

endSegment

void endSegment()

Called by system code

stopInPlace

void stopInPlace(long timeMillis)

Called by system code

update

public void update(long timeMillis)

Called by system code