cz.cuni.amis.pogamut.usar2004.agent.module.geometry

Class VehicleGeometry

java.lang.Object

cz.cuni.amis.pogamut.usar2004.agent.module.geometry.SuperGeometry

cz.cuni.amis.pogamut.usar2004.agent.module.geometry.VehicleGeometry

Direct Known Subclasses:

GeoAerial, GeoGround, GeoLegged, GeoNautic

public abstract class VehicleGeometry
extends SuperGeometry

Geometry message representative for Vehicles - Ground, Aerial, Legged and Nautic share properties present here.

Author:

vejmanm

Field Summary

Fields inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.geometry.SuperGeometry

geoType, lastMessage

Constructor Summary

Constructors

Constructor and Description
VehicleGeometry(GeometryType type) Ctor.

Method Summary

Methods

Modifier and Type	Method and Description
javax.vecmath.Point3d	getCenterOfGravity() COG(x,y,z) ‘x’, ‘y’, and ‘z’ identify the position of the center of gravity, in meters, calculated from the chassis origin.
javax.vecmath.Vector3d	getDimensions() Dimension (x,y,z) ‘x’ defines the robot’s length, ‘y’ defines the robot’s width, and ‘z’ describes the robot’s height.

Methods inherited from class cz.cuni.amis.pogamut.usar2004.agent.module.geometry.SuperGeometry

getGeometryType, getName, getType, isReady, updateMessage

Methods inherited from class java.lang.Object

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

Constructor Detail

VehicleGeometry

public VehicleGeometry(GeometryType type)

Ctor.

Parameters:

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

Method Detail

getDimensions

public javax.vecmath.Vector3d getDimensions()

Dimension (x,y,z) ‘x’ defines the robot’s length, ‘y’ defines the robot’s width, and ‘z’ describes the robot’s height. Please note that these values are in meters.

Returns:

Returns Dimension of the robot.

getCenterOfGravity

public javax.vecmath.Point3d getCenterOfGravity()

COG(x,y,z) ‘x’, ‘y’, and ‘z’ identify the position of the center of gravity, in meters, calculated from the chassis origin.

Returns:

Returns center of gravity of the robot