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java.lang.Objectjavaclient.PlayerDevice
javaclient.BumperInterface
public class BumperInterface
The bumper interface returns data from a bumper array.
Field Summary | |
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protected short |
PLAYER_BUMPER_GET_GEOM_REQ
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static int |
PLAYER_BUMPER_MAX_SAMPLES
maximum number of bumper samples |
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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BumperInterface(PlayerClient pc,
short indexOfDevice)
Constructor for BumperInterface. |
Method Summary | |
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byte |
getBumperCount()
Returns the number of bumpers specified in the Player world file (the number of valid bumper readings). |
byte[] |
getBumpers()
Returns the bumpers array data values up to PLAYER_BUMPER_MAX_SAMPLES. |
PlayerBumperGeomT |
getPlayerBumperGeom()
Get the geometry data. |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isGeomReady()
Check if geometry data is available. |
void |
queryGeometry()
Configuration request: Query geometry. |
void |
readData()
Read the bumper values. |
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 int PLAYER_BUMPER_MAX_SAMPLES
protected final short PLAYER_BUMPER_GET_GEOM_REQ
Constructor Detail |
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public BumperInterface(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 queryGeometry()
public byte[] getBumpers()
public byte getBumperCount()
public PlayerBumperGeomT getPlayerBumperGeom()
public boolean isGeomReady()
public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payload
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