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java.lang.Objectsimbad.sim.BaseObject
simbad.sim.SimpleAgent
simbad.sim.Agent
simbad.sim.KheperaRobot
public class KheperaRobot
A KheperaRobot Agents. This class provides a prebuild khepera robot with the following functionalities:
Field Summary | |
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(package private) RangeSensorBelt |
IRBelt
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Fields inherited from class simbad.sim.Agent |
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agentInspector, frameMeter, kinematicModel, motorsAngularAcceleration, motorsLinearAcceleration, window |
Fields inherited from class simbad.sim.SimpleAgent |
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angularAcceleration, angularVelocity, body, collisionDetected, collisionDistance, collisionRadius, dynamicFrictionCoefficient, height, instantRotation, instantTranslation, interactionDetected, linearAcceleration, linearVelocity, mass, name, odometer, positionChanged, radius, staticFrictionCoefficient, t3d1, t3d2, t3d3, v1, veryNearAgent |
Fields inherited from class simbad.sim.BaseObject |
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black, branchGroup, canBeTraversed, compilable, detachedFromSceneGraph, group, localBounds, material, rotation, rotationGroup, translation, translationGroup, white, world |
Constructor Summary | |
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KheperaRobot(javax.vecmath.Vector3d pos,
java.lang.String name)
Constructs a new KheperaRobot . |
Method Summary | |
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private void |
addIRSensors()
Adds the standard set of IR Sensors. |
protected void |
create3D()
Create 3D geometry. |
RangeSensorBelt |
getIRSensors()
Returns the set of IR sensor. |
void |
setWheelsVelocity(double left,
double right)
Sets the wheels velocity. |
Methods inherited from class simbad.sim.BaseObject |
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addChild, addChild, attach, compile, create3D, detach, getBounds, getCanBeTraversed, getGroup, getNode, getRotationTransform, getRotationTransformGroup, getTranslation, getTranslationTransform, getTranslationTransform, resetTransforms, rotateY, setBounds, setCanBeTraversed, setColor, setWorld, translateTo |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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RangeSensorBelt IRBelt
Constructor Detail |
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public KheperaRobot(javax.vecmath.Vector3d pos, java.lang.String name)
pos
- start position.name
- Method Detail |
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private void addIRSensors()
protected void create3D()
create3D
in class Agent
public RangeSensorBelt getIRSensors()
public void setWheelsVelocity(double left, double right)
left
- wheel velocity in m/s.right
- wheel velocity in m/s.
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