SensorMessage (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.SensorMessage

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 SensorMessage
extends GBEvent
implements cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent, cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent
```
Sensor messages contain the sensor data. Sensor message Every sensor message starts with “SEN”. After it is an optional Time segment, {Time float}, that reports the current time in seconds in the virtual world. Whether the Time segment will appear or not is decided by the sensor’s ‘bWithTimeStamp’ variable. For details information, please read section 10 in USARSim manual v3.1.3. Please note that the Sensor message parameters depend on the type of sensor that the information is being reported. Corresponding GameBots message is SEN.

Field Summary

Fields
Modifier and Type	Field and Description
`protected cz.cuni.amis.pogamut.base3d.worldview.object.Velocity`	`Acceleration`
`protected double`	`Corona`
`protected double`	`Density`
`protected double`	`Dist`
`protected double`	`Duration`
`protected Map<String,Integer>`	`EncoderTicks`
`protected int`	`Fix`
`protected double`	`FOV`
`protected String`	`Gas`
`protected List<Integer>`	`IDs`
`protected List<Double>`	`LaserRanges`
`protected Latitude`	`Latitude`
`protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Location>`	`Locations`
`protected Longitude`	`Longitude`
`protected double`	`Loudness`
`protected String`	`Name`
`protected OdometryPose`	`OdoPose`
`protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation>`	`Orientations`
`protected List<String>`	`PartNames`
`protected javax.vecmath.Point2d`	`Pos2D`
`protected cz.cuni.amis.pogamut.base3d.worldview.object.Location`	`Pos3D`
`protected javax.vecmath.Point4d`	`Position`
`protected double`	`Prob`
`static String`	`PROTOTYPE` Example how the message looks like - used during parser tests.
`protected double`	`Radius`
`protected Map<String,Double>`	`RangeRanges`
`protected double`	`Resolution`
`protected int`	`Satellites`
`protected String`	`Status`
`protected double`	`Time`
`protected Map<String,Boolean>`	`Touches`
`protected String`	`Type`
`protected javax.vecmath.Point4d`	`Velocity`
`protected boolean`	`Visible`

Constructor Summary

Constructors
Constructor and Description
`SensorMessage()` Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package).
`SensorMessage(SensorMessage original)` Cloning constructor.
`SensorMessage(String Type, double Time, String Name, double Duration, double FOV, int Fix, double Loudness, double Prob, double Resolution, int Satellites, String Status, String Gas, double Density, boolean Visible, double Dist, double Radius, double Corona)`

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`addRange(String Name, Double Range)` Used by Yylex to fill the RangeRanges Map.
`cz.cuni.amis.pogamut.base3d.worldview.object.Velocity`	`getAcceleration()` Acceleration from Acceleration Sensor.
`double`	`getCorona()` AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera.
`double`	`getDensity()` Gas sensor measures type and density.
`double`	`getDistance()` AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera.
`double`	`getDuration()` Duration of a sound from the sound sensor.
`Map<String,Integer>`	`getEncoderTicks()` String is the sensor name.
`int`	`getFix()` ‘int’ indicates whether or not a position was acquired.
`double`	`getFOV()` FOV is the sensor’s field of view in radians.
`String`	`getGas()` Gas sensor measures type and density.
`List<Integer>`	`getIDs()` Used by RFID sensor.
`List<Double>`	`getLaserRanges()` LaserRanges is a series of range values in meters.
`Latitude`	`getLatitude()` ‘int’, ’double’, ’char’ provide the latitude degree, minute (as a decimal), and cardinal description (i.e.
`List<cz.cuni.amis.pogamut.base3d.worldview.object.Location>`	`getLocations()` List of Locations used by RFID sensor to determine where are various RFID Tags or by Victiom sensor to determine locations of bodys.
`Longitude`	`getLongitude()` ‘int’, ’float’, ’char’ provide the longitude degree, minute (as a decimal), and cardinal description (i.e.
`double`	`getLoudness()` Loudnes from the sound sensor.
`String`	`getName()` Name of the sensor.
`OdometryPose`	`getOdoPose()` OdoPose is the estimated robot position relative to the start point in meters.
`List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation>`	`getOrientations()` 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.
`List<String>`	`getPartNames()` PartName is the name of the victim part that was discovered by the sensor.
`javax.vecmath.Point2d`	`getPos2D()` AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera.
`cz.cuni.amis.pogamut.base3d.worldview.object.Location`	`getPos3D()` AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera.
`javax.vecmath.Point4d`	`getPosition()` Position of the robot measured by Tachometer.
`double`	`getProb()` Prob is the probability of it’s human motion.
`double`	`getRadius()` AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera.
`Map<String,Double>`	`getRangeRanges()` Map indexed by string is used to collect data of range sensor.
`double`	`getResolution()` It is the sensor’s resolution in radians.
`int`	`getSatellites()` ‘int’ gives the number of satellites tracked by the GPS sensor.
`String`	`getStatus()` Status is not in USARSim manual v3.1.3.
`double`	`getTime()` Timestamp form the UT since server start in seconds.
`Map<String,Boolean>`	`getTouches()` String is the sensor name.
`String`	`getType()` Type describes the sensor type.
`javax.vecmath.Point4d`	`getVelocity()` Velocity of the robot measured by Tachometer.
`boolean`	`isVisible()` AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera.
`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
getSimTime, 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

Methods inherited from interface cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent
getSimTime

Methods inherited from interface cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent
getSimTime

- 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
```
  - Time
```
protected double Time
```
  - Name
```
protected String Name
```
  - RangeRanges
```
protected Map<String,Double> RangeRanges
```
  - Resolution
```
protected double Resolution
```
  - FOV
```
protected double FOV
```
  - LaserRanges
```
protected List<Double> LaserRanges
```
  - OdoPose
```
protected OdometryPose OdoPose
```
  - Latitude
```
protected Latitude Latitude
```
  - Longitude
```
protected Longitude Longitude
```
  - Fix
```
protected int Fix
```
  - Satellites
```
protected int Satellites
```
  - Locations
```
protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Location> Locations
```
  - Orientations
```
protected List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation> Orientations
```
  - EncoderTicks
```
protected Map<String,Integer> EncoderTicks
```
  - Touches
```
protected Map<String,Boolean> Touches
```
  - IDs
```
protected List<Integer> IDs
```
  - PartNames
```
protected List<String> PartNames
```
  - Status
```
protected String Status
```
  - Prob
```
protected double Prob
```
  - Loudness
```
protected double Loudness
```
  - Duration
```
protected double Duration
```
  - Velocity
```
protected javax.vecmath.Point4d Velocity
```
  - Position
```
protected javax.vecmath.Point4d Position
```
  - Acceleration
```
protected cz.cuni.amis.pogamut.base3d.worldview.object.Velocity Acceleration
```
  - Gas
```
protected String Gas
```
  - Density
```
protected double Density
```
  - Visible
```
protected boolean Visible
```
  - Pos2D
```
protected javax.vecmath.Point2d Pos2D
```
  - Pos3D
```
protected cz.cuni.amis.pogamut.base3d.worldview.object.Location Pos3D
```
  - Radius
```
protected double Radius
```
  - Dist
```
protected double Dist
```
  - Corona
```
protected double Corona
```
- Constructor Detail
  - SensorMessage
```
public SensorMessage(String Type,
             double Time,
             String Name,
             double Duration,
             double FOV,
             int Fix,
             double Loudness,
             double Prob,
             double Resolution,
             int Satellites,
             String Status,
             String Gas,
             double Density,
             boolean Visible,
             double Dist,
             double Radius,
             double Corona)
```
  - SensorMessage
```
public SensorMessage(SensorMessage original)
```
    Cloning constructor.
  - SensorMessage
```
public SensorMessage()
```
    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 sensor type. It will be one of the following values: "RFID”, “RangeScanner”, “IR”, "IRScanner", "Tachometer", "Helper", "Sonar", "Odometry", "GPS", "INS", "INU", "Encoder", "Touch", "VictSensor","HumanMotion", "Sound" or "GroundTruth".
    
    Returns:
    Type of the sensor.
  - getTime
```
public double getTime()
```
    Timestamp form the UT since server start in seconds. Note that time is optional parameter.
    
    Returns:
    Returns seconds elapsed from the start of the server.
  - getName
```
public String getName()
```
    Name of the sensor.
    
    Returns:
    Returns name of the sensor
  - getRangeRanges
```
public Map<String,Double> getRangeRanges()
```
    Map indexed by string is used to collect data of range sensor. ‘Dtring’ is the sensor name, ‘Double’ is the range value in meters.
    
    Returns:
    Returns Map of ranges from range sensor(Sonar).
  - addRange
```
public void addRange(String Name,
            Double Range)
```
    Used by Yylex to fill the RangeRanges Map.
    
    Parameters:
    Name - Name of the range sensor.
    Range - Valued of the range sensor.
  - getResolution
```
public double getResolution()
```
    It is the sensor’s resolution in radians. With FOV, we can calculate the number of the data in the Range segment.
    
    Returns:
    Returns resolution of the sensor.
  - getFOV
```
public double getFOV()
```
    FOV is the sensor’s field of view in radians.
    
    Returns:
    Returns field of view in radians.
  - getLaserRanges
```
public List<Double> getLaserRanges()
```
    LaserRanges is a series of range values in meters.
    
    Returns:
    Returns List of double values representing distance in meters.
  - getOdoPose
```
public OdometryPose getOdoPose()
```
    OdoPose is the estimated robot position relative to the start point in meters. ‘theta’ is the head angle in radians relative to the start orientation.
    
    Returns:
    Returns OdometryPose value.
  - getLatitude
```
public Latitude getLatitude()
```
    ‘int’, ’double’, ’char’ provide the latitude degree, minute (as a decimal), and cardinal description (i.e. ‘N’ or ‘S’), respectively. There are only two possible values for the ‘char’ parameter: ‘N’ for North and ‘S’ for South.
    
    Returns:
    Returns Latitude value of the sensor.
  - getLongitude
```
public Longitude getLongitude()
```
    ‘int’, ’float’, ’char’ provide the longitude degree, minute (as a decimal), and cardinal description (i.e. ‘E’ or ‘W’), respectively. There are only two possible values for the ‘char’ parameter: ‘E’ for East and ‘W’ for West.
    
    Returns:
    Returns Longitude value of the sensor.
  - getFix
```
public int getFix()
```
    ‘int’ indicates whether or not a position was acquired. The fix is the same as the GGA format. Namely, a value of 0 means that the GPS sensor failed to acquire a position and a value of 1 means that a position was acquired.
    
    Returns:
    Returns 0 - failed to acquire a position or 1 - success.
  - getSatellites
```
public int getSatellites()
```
    ‘int’ gives the number of satellites tracked by the GPS sensor. This number is an inexplicit source of accuracy. The more satellites are tracked, the higher the position accuracy.
    
    Returns:
    Returns number of active GPS satellite connections.
  - getLocations
```
public List<cz.cuni.amis.pogamut.base3d.worldview.object.Location> getLocations()
```
    List of Locations used by RFID sensor to determine where are various RFID Tags or by Victiom sensor to determine locations of bodys. Also used by INS sensor to determine robots location
    
    Returns:
    Returns list of Locations.
  - getOrientations
```
public List<cz.cuni.amis.pogamut.base3d.worldview.object.Rotation> getOrientations()
```
    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.
    
    Returns:
    Returns List of Rotations.
  - getEncoderTicks
```
public Map<String,Integer> getEncoderTicks()
```
    String is the sensor name. Integer is the tick count. Example: SEN {Type Encoder} {Name ECLeft Tick -61} {Name ECRight Tick -282} {Name ECTilt Tick 0} {Name ECPan Tick 0}
    
    Returns:
    Returns Map of Encoder couples String-Integers.
  - getTouches
```
public Map<String,Boolean> getTouches()
```
    String is the sensor name. Boolean indicates whether the sensor is touching something. Value ‘True’ means the sensor is touching something.
    
    Returns:
    Returns map of touch names and values.
  - getIDs
```
public List<Integer> getIDs()
```
    Used by RFID sensor. RFID tags are simulated by implementing the class USARBot.RFIDTag class in the Unreal Editor when editing a map. This class contains an integer id and a boolean bSingleshot variable that determines whether the tag is a single shot tag or a multi shot tag. They are deployed by placing them in UnrealEd. If the tag’s id is set to -1 (the default), then the tag id will be set to a unique value automatically. Other values for the id will not be changed. If the tags are within the MaxRange of the RFID sensor mounted on the robot then the server sends the following message to the client:
    
    Returns:
    Returns a list of RFID IDs.
  - getPartNames
```
public List<String> getPartNames()
```
    PartName is the name of the victim part that was discovered by the sensor. It can be one of 7 values: “Head”, “Arm”, “Hand”, “Chest”, “Pelvis”, “Leg”, and “Foot”. Please note that the sensor does not differentiate between real victim’s part and false alarms. It is up to the controller to perform this task.
    
    Returns:
    Returns a list of victim body part names.
  - getStatus
```
public String getStatus()
```
    Status is not in USARSim manual v3.1.3. And was added to full support of Victim sensor.
    
    Returns:
    Returns the status of Victim sensor.
  - getProb
```
public double getProb()
```
    Prob is the probability of it’s human motion.
    
    Returns:
    Returns the probability of Human motion detector.
  - getLoudness
```
public double getLoudness()
```
    Loudnes from the sound sensor.
    
    Returns:
    Returns loundness of a sound.
  - getDuration
```
public double getDuration()
```
    Duration of a sound from the sound sensor.
    
    Returns:
    Returns a drutaion of a sound.
  - getVelocity
```
public javax.vecmath.Point4d getVelocity()
```
    Velocity of the robot measured by Tachometer. Not in the USARSim manual v3.1.3.
    
    Returns:
    Returns velocity from Tachometer.
  - getPosition
```
public javax.vecmath.Point4d getPosition()
```
    Position of the robot measured by Tachometer. Not in the USARSim manual v3.1.3.
    
    Returns:
    Returns position from Tachometer.
  - getAcceleration
```
public cz.cuni.amis.pogamut.base3d.worldview.object.Velocity getAcceleration()
```
    Acceleration from Acceleration Sensor. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns acceleration from accel sensor.
  - getGas
```
public String getGas()
```
    Gas sensor measures type and density. Default value is CO2. There is Resolution and Range information offered by GetConf. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns type of a gas measured by Gas sensor.
  - getDensity
```
public double getDensity()
```
    Gas sensor measures type and density. There is Resolution and Range information offered by GetConf. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns density of a gas measured by Gas sensor.
  - isVisible
```
public boolean isVisible()
```
    AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns wether the soccer ball is visible or not.
  - getPos2D
```
public javax.vecmath.Point2d getPos2D()
```
    AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns position on the camera of the soccer ball.
  - getPos3D
```
public cz.cuni.amis.pogamut.base3d.worldview.object.Location getPos3D()
```
    AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns location of the soccer ball in the environment.
  - getRadius
```
public double getRadius()
```
    AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns radius of the soccer ball.
  - getDistance
```
public double getDistance()
```
    AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns distance of the soccer ball from the robot.
  - getCorona
```
public double getCorona()
```
    AIBO - ERS robot uses tracking ball sensor, that recognises a soccer ball from camera. Not in USARSim manual v3.1.3.
    
    Returns:
    Returns corona of the soccer ball.
  - 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

Class SensorMessage

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

Methods inherited from interface cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent

Methods inherited from interface cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent

Field Detail

PROTOTYPE

Type

Time

Name

RangeRanges

Resolution

FOV

LaserRanges

OdoPose

Latitude

Longitude

Fix

Satellites

Locations

Orientations

EncoderTicks

Touches

IDs

PartNames

Status

Prob

Loudness

Duration

Velocity

Position

Acceleration

Gas

Density

Visible

Pos2D

Pos3D

Radius

Dist

Corona

Constructor Detail

SensorMessage

SensorMessage

SensorMessage

Method Detail

getType

getTime

getName

getRangeRanges

addRange

getResolution

getFOV

getLaserRanges

getOdoPose

getLatitude

getLongitude

getFix

getSatellites

getLocations

getOrientations

getEncoderTicks

getTouches

getIDs

getPartNames

getStatus

getProb

getLoudness

getDuration

getVelocity

getPosition

getAcceleration

getGas

getDensity

isVisible

getPos2D

getPos3D