simbad.sim
Class KheperaRobot

java.lang.Object
  extended by simbad.sim.BaseObject
      extended by simbad.sim.SimpleAgent
          extended by simbad.sim.Agent
              extended by simbad.sim.KheperaRobot
Direct Known Subclasses:
KheperaDemo.Robot

public class KheperaRobot
extends Agent

A KheperaRobot Agents. This class provides a prebuild khepera robot with the following functionalities:

  • 8 IR sensors
  • Two wheels control
  • Note the numbering and angle in degrees of the IR sensors: 0 ->+85 1 -> +45 2 -> +10 3 -> -10 4 -> -45 5 ->-85 6 et 7 ->180


    Field Summary
    (package private)  RangeSensorBelt IRBelt
               
     
    Fields inherited from class simbad.sim.Agent
    agentInspector, frameMeter, kinematicModel, motorsAngularAcceleration, motorsLinearAcceleration, window
     
    Fields inherited from class simbad.sim.SimpleAgent
    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
    black, branchGroup, canBeTraversed, compilable, detachedFromSceneGraph, group, localBounds, material, rotation, rotationGroup, translation, translationGroup, white, world
     
    Constructor Summary
    KheperaRobot(javax.vecmath.Vector3d pos, java.lang.String name)
              Constructs a new KheperaRobot .
     
    Method Summary
    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.Agent
    asString, createUIWindow, dispose, getAgentInspector, getKinematicModel, getOdometer, getRotationalVelocity, getTranslationalVelocity, getUIPanel, initBehavior, initPreBehavior, performBehavior, performPreBehavior, reset, resetPosition, setAgentInspector, setFrameMeterRate, setKinematicModel, setMotorsAcceleration, setRotationalVelocity, setTranslationalVelocity, setUIPanel
     
    Methods inherited from class simbad.sim.SimpleAgent
    addActuatorDevice, addSensorDevice, anOtherAgentIsVeryNear, checkCollision, clearVeryNear, collisionDetected, create, distanceToGround, getActuatorDevice, getActuatorList, getCoords, getCoords, getCounter, getHeight, getLifeTime, getMass, getName, getRadius, getSensorDevice, getSensorList, getVeryNearAgent, integratesPositionChange, integratesVelocities, interactionDetected, moveToPosition, moveToPosition, moveToStartPosition, resetDevices, resetPositionAt, setSimulator, updateActuators, updateCounters, updatePosition, updateSensors, veryNear
     
    Methods inherited from class simbad.sim.BaseObject
    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
    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
     

    Field Detail

    IRBelt

    RangeSensorBelt IRBelt
    Constructor Detail

    KheperaRobot

    public KheperaRobot(javax.vecmath.Vector3d pos,
                        java.lang.String name)
    Constructs a new KheperaRobot .

    Parameters:
    pos - start position.
    name -
    Method Detail

    addIRSensors

    private void addIRSensors()
    Adds the standard set of IR Sensors.


    create3D

    protected void create3D()
    Create 3D geometry.

    Overrides:
    create3D in class Agent

    getIRSensors

    public RangeSensorBelt getIRSensors()
    Returns the set of IR sensor.

    Returns:
    a RangeSensorBelt.

    setWheelsVelocity

    public void setWheelsVelocity(double left,
                                  double right)
    Sets the wheels velocity.

    Parameters:
    left - wheel velocity in m/s.
    right - wheel velocity in m/s.