cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages
Class ConfigurationMessage

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.ConfigurationMessage

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 ConfigurationMessage
extends GBEvent
implements cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent, cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent

Configuration message occurs after user has sent a command GetConf. Please note that the robot Configuration message parameters depend on the type of robot that you are driving. For example, a robot of type “GroundVehicle” will not have the same Configuration message as a robot of type “AerialVehicle.” * Corresponding GameBots message is CONF.

Field Summary

protected Map<String,String>	Features
protected List<String>	JointTypes
protected List<Integer>	Links
protected double	Mass
protected double	MaxFrontSteer
protected List<Double>	MaxRanges
protected double	MaxRearSteer
protected List<Double>	MaxSpeeds
protected List<Double>	MaxTorques
protected List<Double>	MaxVals
protected List<Double>	MinRanges
protected List<Double>	MinVals
protected String	Name
protected List<String>	Names
protected List<String>	Opcodes
static String	PROTOTYPE Example how the message looks like - used during parser tests.
protected String	SteeringType
protected String	Type

Constructor Summary

ConfigurationMessage()
Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package).

ConfigurationMessage(ConfigurationMessage original)
Cloning constructor.

ConfigurationMessage(String Type, double MaxFrontSteer, double MaxRearSteer, double Mass, String SteeringType)

Method Summary

Map<String,String>	getFeatures() For a camera, sensor or effecter, a configuration message conatins a pair �?{Name Value}’ that describes the feature of this sensor type.
List<String>	getJointTypes() Each value can either be “Revolute” or “Prismatic”, as determined by the type of joint being described.
List<Integer>	getLinks() Each value is the mission package’s link number(or index) that is described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min Range.
double	getMass() It is the robot's mass in kg.
double	getMaxFrontSteer() The maximum steering angle for robot’s front wheels, in radians.
List<Double>	getMaxRanges() For a revolute joint, Each value is the maximum absolute angle that the joint can rotate to.
double	getMaxRearSteer() The maximum steering angle for robot’s rear wheels, in radians.
List<Double>	getMaxSpeeds() Each value describes the joint’s maximum speed, in rad/s.
List<Double>	getMaxTorques() Each value describes the joint’s maximum torque.
List<Double>	getMaxVals() It is value that indicates the upper bound for the value that is accepted by the effecter.
List<Double>	getMinRanges() For a revolute joint, Each value is the minimum absolute angle that the joint can rotate to.
List<Double>	getMinVals() It is value that indicates the lower bound for the value that is accepted by the effecter.
String	getName() Name of the subject that this geometry message concerns.
List<String>	getNames() For an effector, the configuration message can contain multiple names.
List<String>	getOpcodes() For an effector, the configuration message can contain multiple OpCodes.
String	getSteeringType() Value should be one of the following: “AckermanSteered” or “SkidSteered” or “OmniDrive”, as dictated by the steering type of the robot.
String	getType() Type describes the vehicle type.
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

Name

protected String Name

SteeringType

protected String SteeringType

Mass

protected double Mass

MaxFrontSteer

protected double MaxFrontSteer

MaxRearSteer

protected double MaxRearSteer

Features

protected Map<String,String> Features

Names

protected List<String> Names

Opcodes

protected List<String> Opcodes

MaxVals

protected List<Double> MaxVals

MinVals

protected List<Double> MinVals

Links

protected List<Integer> Links

JointTypes

protected List<String> JointTypes

MaxSpeeds

protected List<Double> MaxSpeeds

MaxTorques

protected List<Double> MaxTorques

MaxRanges

protected List<Double> MaxRanges

MinRanges

protected List<Double> MinRanges

Constructor Detail

ConfigurationMessage

public ConfigurationMessage(String Type,
                            double MaxFrontSteer,
                            double MaxRearSteer,
                            double Mass,
                            String SteeringType)

ConfigurationMessage

public ConfigurationMessage(ConfigurationMessage original)

Cloning constructor.

ConfigurationMessage

public ConfigurationMessage()

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.

getSteeringType

public String getSteeringType()

Value should be one of the following: “AckermanSteered” or “SkidSteered” or “OmniDrive”, as dictated by the steering type of the robot.

Returns:

Returns steering type of the robot.

getMass

public double getMass()

It is the robot's mass in kg.

Returns:

Returns mass of the robot.

getMaxFrontSteer

public double getMaxFrontSteer()

The maximum steering angle for robot’s front wheels, in radians. Please note that this value will be 0 for skid steered vehicles.

Returns:

Returns maximum front steer.

getMaxRearSteer

public double getMaxRearSteer()

The maximum steering angle for robot’s rear wheels, in radians. Please note that this value will be 0 for skid steered vehicles.

Returns:

Returns maximum rear steer.

getFeatures

public Map<String,String> getFeatures()

For a camera, sensor or effecter, a configuration message conatins a pair �?{Name Value}’ that describes the feature of this sensor type. Different sensor types have different name value pairs. For detailed information, please refer to section 10 of USARSim manual v3.1.3 about how to configure the sensor. Example: CONF {Type Camera} {CameraDefFov 0.8727} {CameraMinFov 0.3491} {CameraMaxFov 2.0943} {CameraFov 0.8726}

Returns:

Returns Map of features.

getNames

public List<String> getNames()

For an effector, the configuration message can contain multiple names. 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.

Returns:

Returns list of names.

getOpcodes

public List<String> getOpcodes()

For an effector, the configuration message can contain multiple OpCodes. Opcode value is the name of the opcode that the effecter implements. Refer to Section 8 of USARSim Manual v3.1.3 for a list of the opcodes. 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.

Returns:

Returns list of Operation Codes.

getMaxVals

public List<Double> getMaxVals()

It is value that indicates the upper bound for the value that is accepted by the effecter.

Returns:

Returns list of max values for effecters.

getMinVals

public List<Double> getMinVals()

It is value that indicates the lower bound for the value that is accepted by the effecter.

Returns:

Returns list of min values for effecters.

getLinks

public List<Integer> getLinks()

Each value is the mission package’s link number(or index) that is described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min Range.

Returns:

Returns list of links.

getJointTypes

public List<String> getJointTypes()

Each value can either be “Revolute” or “Prismatic”, as determined by the type of joint being described.

Returns:

Returns list of joint types.

getMaxSpeeds

public List<Double> getMaxSpeeds()

Each value describes the joint’s maximum speed, in rad/s.

Returns:

Returns list of maximum speeds.

getMaxTorques

public List<Double> getMaxTorques()

Each value describes the joint’s maximum torque.

Returns:

Returns list of maximum torques.

getMaxRanges

public List<Double> getMaxRanges()

For a revolute joint, Each value is the maximum absolute angle that the joint can rotate to. For a prismatic joint, Each value is the maximum distance that the joint can move to.

Returns:

Returns list of maximum ranges.

getMinRanges

public List<Double> getMinRanges()

For a revolute joint, Each value is the minimum absolute angle that the joint can rotate to. For a prismatic joint, Each value is the minimum distance that the joint can move to.

Returns:

Returns list of minimal ranges.

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