GeometryMessage (PogamutUSAR2004 3.5.1-SNAPSHOT API)

java.lang.Object
- cz.cuni.amis.pogamut.base.communication.messages.InfoMessage
- - cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent
  - - cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.GeometryMessage

All Implemented Interfaces:

cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent, cz.cuni.amis.pogamut.base.communication.translator.event.IWorldEventWrapper, cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent, IGBWorldEvent, cz.cuni.amis.utils.listener.Event
```
public class GeometryMessage
extends GBEvent
implements cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent, cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent
```
Geometry message reports the robot's Geometry information. Please note that the robot Geometry message parameters depend on the type of robot that you are driving. For example, a robot of type “GroundVehicle” will not have the same Geometry message as a robot of type “AerialVehicle.” Corresponding GameBots message is GEO. NOTE: An effecter can implement more than one opcode and the CONF message returns the configuration information for all effecters on the robotic platform. Therefore the segment with the name value pair indicates a new effecter and the opcode name value pair indicates the opcode the effecter specified in by name implements. NOTE: For revolute joints, if the MinRange parameter is greater than the MaxRange parameter, the joint does not have any constraints.

Field Summary

Fields
Modifier and Type	Field and Description
`protected javax.vecmath.Point3d`	`CenterOfGravity`
`protected javax.vecmath.Vector3d`	`Dimensions`
`protected List<Integer>`	`Links`
`protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Location>`	`Locations`
`protected String`	`Name`
`protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation>`	`Orientations`
`protected List<Integer>`	`ParentLinks`
`static String`	`PROTOTYPE` Example how the message looks like - used during parser tests.
`protected List<SensorMount>`	`SenEffGeo`
`protected String`	`Type`
`protected double`	`WheelBase`
`protected double`	`WheelRadius`
`protected double`	`WheelSeparation`

Constructor Summary

Constructors
Constructor and Description
`GeometryMessage()` Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package).
`GeometryMessage(GeometryMessage original)` Cloning constructor.
`GeometryMessage(String Type, String Name, double WheelBase, double WheelRadius, double WheelSeparation, javax.vecmath.Point3d COG, javax.vecmath.Vector3d Dimensions)`

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.
`List<Integer>`	`getLinks()` For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot.
`List<cz.cuni.amis.pogamut.base3d.worldview.object.Location>`	`getLocations()` For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot.
`String`	`getName()` Name of the subject that this geometry message concerns.
`List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation>`	`getOrientations()` For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot.
`List<Integer>`	`getParentLinks()` For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot.
`List<SensorMount>`	`getSenEffGeo()` Camera, Sensor and effecter mounts are composed from Name, Location, Orientaion and Mount name.
`long`	`getSimTime()`
`String`	`getType()` Type describes the vehicle type.
`double`	`getWheelBase()` The value is the wheel base, in meters.
`double`	`getWheelRadius()` The value is the radius of the robot’s wheels, in meters
`double`	`getWheelSeparation()` The value is the wheel separation, in meters.
`String`	`toHtmlString()` Gets all properties and values to create a HTML formated string;
`String`	`toString()`

Methods inherited from class cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent
getWorldEvent

Methods inherited from class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage
toJsonLiteral

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

- Field Detail
  - PROTOTYPE
```
public static final String PROTOTYPE
```
    Example how the message looks like - used during parser tests.
    
    See Also:
    Constant Field Values
  - Type
```
protected String Type
```
  - Name
```
protected String Name
```
  - Dimensions
```
protected javax.vecmath.Vector3d Dimensions
```
  - CenterOfGravity
```
protected javax.vecmath.Point3d CenterOfGravity
```
  - WheelRadius
```
protected double WheelRadius
```
  - WheelSeparation
```
protected double WheelSeparation
```
  - WheelBase
```
protected double WheelBase
```
  - SenEffGeo
```
protected List<SensorMount> SenEffGeo
```
  - Links
```
protected List<Integer> Links
```
  - ParentLinks
```
protected List<Integer> ParentLinks
```
  - Locations
```
protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Location> Locations
```
  - Orientations
```
protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation> Orientations
```
- Constructor Detail
  - GeometryMessage
```
public GeometryMessage(String Type,
               String Name,
               double WheelBase,
               double WheelRadius,
               double WheelSeparation,
               javax.vecmath.Point3d COG,
               javax.vecmath.Vector3d Dimensions)
```
  - GeometryMessage
```
public GeometryMessage(GeometryMessage original)
```
    Cloning constructor.
  - GeometryMessage
```
public GeometryMessage()
```
    Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package).
- Method Detail
  - getType
```
public String getType()
```
    Type describes the vehicle type. It will be one of the following values: "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle” of "Camera" or some kind of sensor or effecter or "MisPkg".
    
    Returns:
    Returns type of the geometry message.
  - getName
```
public String getName()
```
    Name of the subject that this geometry message concerns.
    
    Returns:
    Returns the name of the Geometry item.
  - 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
  - getWheelRadius
```
public double getWheelRadius()
```
    The value is the radius of the robot’s wheels, in meters
    
    Returns:
    Returns wheel radius of the robot.
  - getWheelSeparation
```
public double getWheelSeparation()
```
    The value is the wheel separation, in meters. The wheel separation defines the distance between two wheels along the length (x axis) of the robot’s chassis.
    
    Returns:
    Returns wheel separation of the robot.
  - getWheelBase
```
public double getWheelBase()
```
    The value is the wheel base, in meters. The wheel base defines the distance between two wheels along the width (y axis) of the robot’s chassis
    
    Returns:
    Retursn wheel base of the robot.
  - getSenEffGeo
```
public List<SensorMount> getSenEffGeo()
```
    Camera, Sensor and effecter mounts are composed from Name, Location, Orientaion and Mount name. Example: GEO {Type Camera} {Name Camera Location 0.0820,0.0002,0.0613 Orientation 0.0000,-0.0000,0.0000 Mount CameraTilt}
    
    Returns:
    Returns a collection of sensor mounts.
  - getLinks
```
public List<Integer> getLinks()
```
    For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot. Example: GEO {Type MisPkg} {Name CameraPanTilt} {Link 1} {ParentLink -1} {Location 0.1239,0.0000,-0.2036} {Orientation 3.1415,0.0000,0.0000} {Link 2} {ParentLink 1} {Location 0.0000,0.0000,0.0599} {Orientation 1.5707,0.0000,0.0000}
    
    Returns:
    Returns List of links.
  - getParentLinks
```
public List<Integer> getParentLinks()
```
    For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot. Example: GEO {Type MisPkg} {Name CameraPanTilt} {Link 1} {ParentLink -1} {Location 0.1239,0.0000,-0.2036} {Orientation 3.1415,0.0000,0.0000} {Link 2} {ParentLink 1} {Location 0.0000,0.0000,0.0599} {Orientation 1.5707,0.0000,0.0000}
    
    Returns:
    Returns list of parent links.
  - getLocations
```
public List<cz.cuni.amis.pogamut.base3d.worldview.object.Location> getLocations()
```
    For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot. Example: GEO {Type MisPkg} {Name CameraPanTilt} {Link 1} {ParentLink -1} {Location 0.1239,0.0000,-0.2036} {Orientation 3.1415,0.0000,0.0000} {Link 2} {ParentLink 1} {Location 0.0000,0.0000,0.0599} {Orientation 1.5707,0.0000,0.0000}
    
    Returns:
    Return list of Locations.
  - getOrientations
```
public List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation> getOrientations()
```
    For a mission package, the geometry message is expressed in the following format to tell us how the mission package and its elements are ‘installed’ together to the robot. Example: GEO {Type MisPkg} {Name CameraPanTilt} {Link 1} {ParentLink -1} {Location 0.1239,0.0000,-0.2036} {Orientation 3.1415,0.0000,0.0000} {Link 2} {ParentLink 1} {Location 0.0000,0.0000,0.0599} {Orientation 1.5707,0.0000,0.0000}
    
    Returns:
    Returns list of Orientations.
  - toString
```
public String toString()
```
    Overrides:
    
    toString in class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage
  - toHtmlString
```
public String toHtmlString()
```
    Gets all properties and values to create a HTML formated string;
    
    Returns:
    Returns all properties in HTML format
  - getSimTime
```
public long getSimTime()
```
    Specified by:
    
    getSimTime in interface cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent
    
    Specified by:
    
    getSimTime in interface cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent
    
    Overrides:
    
    getSimTime in class GBEvent

Class GeometryMessage

Field Summary

Constructor Summary

Method Summary

Methods inherited from class cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent

Methods inherited from class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage

Methods inherited from class java.lang.Object

Field Detail

PROTOTYPE

Type

Name

Dimensions

CenterOfGravity

WheelRadius

WheelSeparation

WheelBase

SenEffGeo

Links

ParentLinks

Locations

Orientations

Constructor Detail

GeometryMessage

GeometryMessage

GeometryMessage

Method Detail

getType

getName

getDimensions

getCenterOfGravity

getWheelRadius

getWheelSeparation

getWheelBase

getSenEffGeo

getLinks

getParentLinks

getLocations

getOrientations

toString

toHtmlString

getSimTime