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java.lang.Objectjavaclient.PlayerDevice
javaclient.TruthInterface
public class TruthInterface
The truth interface provides access to the absolute state of entities. Note that, unless your robot has superpowers, truth devices are only avilable in simulation.
Field Summary | |
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protected short |
PLAYER_TRUTH_GET_FIDUCIAL_ID
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protected short |
PLAYER_TRUTH_GET_POSE
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protected short |
PLAYER_TRUTH_SET_FIDUCIAL_ID
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protected short |
PLAYER_TRUTH_SET_POSE
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protected short |
PLAYER_TRUTH_SET_POSE_ON_ROOT
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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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TruthInterface(PlayerClient pc,
short indexOfDevice)
Constructor for TruthInterface. |
Method Summary | |
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int |
getPhead()
Get P orientation in millirad. |
int |
getRhead()
Get R orientation in millirad. |
int |
getXpos()
Get X position in mm. |
int |
getYhead()
Get Y orientation in millirad. |
int |
getYpos()
Get Y position in mm. |
int |
getZpos()
Get Z position in mm. |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isTeleported()
Check if the teleportation (PLAYER_TRUTH_SET_POSE) was successful or not. |
void |
readData()
Read the current state of the entity. |
void |
teleport(int x,
int y)
Set the pose of the current entity. |
void |
teleport(int x,
int y,
int z)
Set the pose of the current entity. |
void |
teleport(int xp,
int yp,
int zp,
int ro,
int po,
int yo)
Set the pose of the current entity. |
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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protected final short PLAYER_TRUTH_GET_POSE
protected final short PLAYER_TRUTH_SET_POSE
protected final short PLAYER_TRUTH_SET_POSE_ON_ROOT
protected final short PLAYER_TRUTH_GET_FIDUCIAL_ID
protected final short PLAYER_TRUTH_SET_FIDUCIAL_ID
Constructor Detail |
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public TruthInterface(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 int getXpos()
public int getYpos()
public int getZpos()
public int getRhead()
public int getPhead()
public int getYhead()
public void teleport(int x, int y)
x
- X position in mmy
- Y position in mmpublic void teleport(int x, int y, int z)
x
- X position in mmy
- Y position in mmz
- Z position in mmpublic void teleport(int xp, int yp, int zp, int ro, int po, int yo)
xp
- X position in mmyp
- Y position in mmzp
- Z position in mmro
- R orientation in milliradpo
- P orientation in milliradyo
- Y orientation in milliradpublic boolean isTeleported()
public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payload
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