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

VehicleGeometry(GeometryType type)
Ctor.

Method Summary

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