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java.lang.Objectjavaclient.PlayerDevice
javaclient.MapInterface
public class MapInterface
The map interface provides acces to an occupancy grid map. This interface returns no data and accepts no commands. The map is delivered in tiles, via a sequence of configuration requests.
Field Summary | |
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protected static short |
PLAYER_MAP_GET_DATA_REQ
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protected static short |
PLAYER_MAP_GET_INFO_REQ
|
static short |
PLAYER_MAP_MAX_CELLS_PER_TILE
the max number of cells we can send in one tile |
Fields inherited from class javaclient.PlayerDevice |
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device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec |
Constructor Summary | |
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MapInterface(PlayerClient pc,
short indexOfDevice)
Constructor for MapInterface. |
Method Summary | |
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int |
getHeight()
Get the height of the map (pixels) |
void |
getMapData(int col,
int row,
int width,
int height)
Configuration request: Get map data. |
void |
getMapInformation()
Configuration request: Get map information. |
int |
getScale()
Get the scale of the map (pixels per kilometer) |
int |
getTileCol()
Get the tile origin (X - pixels) |
int[] |
getTileData()
Get a tile data |
int |
getTileHeight()
Get the height of a tile in the map (pixels) |
int |
getTileRow()
Get the tile origin (Y - pixels) |
int |
getTileWidth()
Get the width of a tile in the map (pixels) |
int |
getWidth()
Get the width of the map (pixels) |
void |
handleNARMessage()
Handle negative acknowledgement response messages. |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, readData, readHeader, sendHeader |
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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public static final short PLAYER_MAP_MAX_CELLS_PER_TILE
protected static final short PLAYER_MAP_GET_INFO_REQ
protected static final short PLAYER_MAP_GET_DATA_REQ
Constructor Detail |
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public MapInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void getMapInformation()
public void getMapData(int col, int row, int width, int height)
col
- the tile origin (X - pixels)row
- the tile origin (Y - pixels)width
- the width of the tile in the map (pixels)height
- the height of the tile in the map (pixels)public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payloadpublic int getScale()
public int getWidth()
public int getHeight()
public int getTileCol()
public int getTileRow()
public int getTileWidth()
public int getTileHeight()
public int[] getTileData()
getMapData(int, int, int, int)
public void handleNARMessage()
handleNARMessage
in class PlayerDevice
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