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java.lang.Objectjavaclient.PlayerDevice
javaclient.SimulationInterface
public class SimulationInterface
Player devices may either be real hardware or virtual devices generated by a simulator such as Stage or Gazebo. This interface provides direct access to a simulator.
Field Summary | |
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protected short |
PLAYER_SIMULATION_GET_POSE2D
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static short |
PLAYER_SIMULATION_IDENTIFIER_MAXLEN
the maximum length of a string indentifying a simulation object |
protected short |
PLAYER_SIMULATION_SET_POSE2D
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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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SimulationInterface(PlayerClient pc,
short indexOfDevice)
Constructor for SimulationInterface. |
Method Summary | |
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void |
get2DPose(java.lang.String identifier)
Configuration request: get 2D pose of a named simulation object. |
PlayerSimulationPose2D |
getSimulationPose2D()
Get the 2D pose of a named simulation object. |
void |
handleNARMessage()
Handle negative acknowledgement response messages. |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isPose2DReady()
Check if pose data is available. |
void |
set2DPose(java.lang.String identifier,
int x,
int y,
int theta)
Configuration request: set 2D pose of a named simulation object. |
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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protected final short PLAYER_SIMULATION_SET_POSE2D
protected final short PLAYER_SIMULATION_GET_POSE2D
public static final short PLAYER_SIMULATION_IDENTIFIER_MAXLEN
Constructor Detail |
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public SimulationInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void set2DPose(java.lang.String identifier, int x, int y, int theta)
public void get2DPose(java.lang.String identifier)
public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payloadpublic void handleNARMessage()
handleNARMessage
in class PlayerDevice
public PlayerSimulationPose2D getSimulationPose2D()
public boolean isPose2DReady()
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