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java.lang.Objectjavaclient.PlayerDevice
javaclient.FiducialInterface
public class FiducialInterface
The fiducial interface provides access to devices that detect coded fiducials (markers) placed in the environment. It can also be used for devices the detect natural landmarks.
Field Summary | |
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protected short |
PLAYER_FIDUCIAL_EXCHANGE_MSG
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protected short |
PLAYER_FIDUCIAL_GET_FOV
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protected short |
PLAYER_FIDUCIAL_GET_GEOM
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protected short |
PLAYER_FIDUCIAL_GET_ID
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static short |
PLAYER_FIDUCIAL_MAX_MSG_LEN
The maximum size of a data packet exchanged with a fiducial at one time |
static short |
PLAYER_FIDUCIAL_MAX_SAMPLES
The maximum number of fiducials that can be detected at one time |
protected short |
PLAYER_FIDUCIAL_RECV_MSG
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protected short |
PLAYER_FIDUCIAL_SEND_MSG
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protected short |
PLAYER_FIDUCIAL_SET_FOV
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protected short |
PLAYER_FIDUCIAL_SET_ID
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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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FiducialInterface(PlayerClient pc,
short indexOfDevice)
Constructor for FiducialInterface. |
Method Summary | |
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int[] |
getDetectPose()
Get the pose of the detector in the robot cs (x, y, orient) in units if (mm, mm, degrees). |
int[] |
getDetectSize()
Get the size of the detector in units of (mm, mm). |
int |
getFiducialCount()
Get the number of fiducials. |
PlayerFiducialItem[] |
getFiducials()
Get the fiducials. |
int[] |
getFiducialSize()
Get the dimensions of the fiducials in units of (mm, mm). |
void |
getFiducialVal()
Configuration request: Get fiducial value. |
void |
getFOV()
Configuration request: Get sensor field of view. |
void |
getGeometry()
Configuration request: Get geometry. |
int |
getID()
Get the fiducial data value displayed. |
int |
getMaxRange()
Get the maximum range of the sensor in mm. |
int |
getMinRange()
Get the minimum range of the sensor in mm. |
int |
getViewAngle()
Get the receptive angle of the sensor in degrees. |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isFOVReady()
Check if FOV data is available. |
boolean |
isGeomReady()
Check if geometry data is available. |
boolean |
isIDReady()
Check if fiducial value data is available. |
void |
readData()
Read the fiducial data packet (all fiducials). |
void |
setFiducialVal(int newID)
Configuration request: Get fiducial value. |
void |
setFOV(int newMinRange,
int newMaxRange,
int newViewAngle)
Configuration request: Set sensor field of view. |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, 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_FIDUCIAL_MAX_SAMPLES
public static final short PLAYER_FIDUCIAL_MAX_MSG_LEN
protected final short PLAYER_FIDUCIAL_GET_GEOM
protected final short PLAYER_FIDUCIAL_GET_FOV
protected final short PLAYER_FIDUCIAL_SET_FOV
protected final short PLAYER_FIDUCIAL_SEND_MSG
protected final short PLAYER_FIDUCIAL_RECV_MSG
protected final short PLAYER_FIDUCIAL_EXCHANGE_MSG
protected final short PLAYER_FIDUCIAL_GET_ID
protected final short PLAYER_FIDUCIAL_SET_ID
Constructor Detail |
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public FiducialInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void readData()
readData
in class PlayerDevice
public void getGeometry()
public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payloadpublic boolean isGeomReady()
public int[] getDetectPose()
public int[] getDetectSize()
public int[] getFiducialSize()
public void getFOV()
public boolean isFOVReady()
public int getMinRange()
public int getMaxRange()
public int getViewAngle()
public void setFOV(int newMinRange, int newMaxRange, int newViewAngle)
public void getFiducialVal()
public boolean isIDReady()
public int getID()
public void setFiducialVal(int newID)
public int getFiducialCount()
public PlayerFiducialItem[] getFiducials()
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