cz.cuni.amis.pogamut.usar2004.agent.module.sensor
Class SensorINS

java.lang.Object
  cz.cuni.amis.pogamut.usar2004.agent.module.sensor.SuperSensor
      cz.cuni.amis.pogamut.usar2004.agent.module.sensor.SensorINS

public class SensorINS
extends SuperSensor

Sensor message representative for INS sensor.

Author:

vejmanm

Field Summary

static SensorType

type

Fields inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.sensor.SuperSensor

lastMessage, sensorType

Constructor Summary

SensorINS()
Ctor.

Method Summary

cz.cuni.amis.pogamut.base3d.worldview.object.Location	getLocation() Location used by INS sensor to determine robots location.
cz.cuni.amis.pogamut.base3d.worldview.object.Rotation	getOrientation() INS sensor entry in USARSim manual v3.1.3 suggests that it should need more than one record of Orienation, but the experience was different.

Methods inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.sensor.SuperSensor

getName, getSensorType, getTime, getType, isReady, updateMessage

Methods inherited from class java.lang.Object

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

Field Detail

type

public static final SensorType type

Constructor Detail

SensorINS

public SensorINS()

Ctor. Sensor type describes particular subject about which we want to know about. It is used to distinguish incoming message from the server.

Method Detail

getLocation

public cz.cuni.amis.pogamut.base3d.worldview.object.Location getLocation()

Location used by INS sensor to determine robots location.

Returns:

Returns Location from INS sensor.

getOrientation

public cz.cuni.amis.pogamut.base3d.worldview.object.Rotation getOrientation()

INS sensor entry in USARSim manual v3.1.3 suggests that it should need more than one record of Orienation, but the experience was different. Still we use list of Rotations to support multiple entry. Mainly used for determination of robots Orientation. Here we offer only the first Record.

Returns:

Returns Rotation from INS sensor.