javaclient
Class IRInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.IRInterface

public class IRInterface
extends PlayerDevice

The ir interface provides access to an array of infrared (IR) range sensors. This interface accepts no commands.

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes
• v1.5a - Player 1.5 supported (most popular devices)

Author:

Maxim A. Batalin & Radu Bogdan Rusu

Field Summary

static short	PLAYER_IR_MAX_SAMPLES maximum number of IR samples
protected short	PLAYER_IR_POSE_REQ
protected short	PLAYER_IR_POWER_REQ

Fields inherited from class javaclient.PlayerDevice

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

IRInterface(PlayerClient pc, short indexOfDevice)
Constructor for IRInterface.

Method Summary

PlayerIRPoseReqT	getPIPRT() Get the geometry data.
int	getRangeCount() Returns the number of IR sensors specified in the Player world file (the number of valid range readings).
int[]	getRanges() Returns the IR array data ranges up to PLAYER_IR_MAX_SAMPLES.
int[]	getVoltages() Returns the IR array data voltages up to PLAYER_IR_MAX_SAMPLES.
void	handleResponse(int size) Handle acknowledgement response messages (threaded mode).
boolean	isPIPRTReady() Check if geometry data is available.
void	queryPose() Configuration request: Query pose.
void	readData() Read the IR values.
void	setIRPower(int value) Configuration request: IR power.

Methods inherited from class javaclient.PlayerDevice

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, readHeader, sendHeader

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

PLAYER_IR_MAX_SAMPLES

public static final short PLAYER_IR_MAX_SAMPLES

maximum number of IR samples

See Also:

Constant Field Values

PLAYER_IR_POSE_REQ

protected final short PLAYER_IR_POSE_REQ

See Also:

Constant Field Values

PLAYER_IR_POWER_REQ

protected final short PLAYER_IR_POWER_REQ

See Also:

Constant Field Values

Constructor Detail

IRInterface

public IRInterface(PlayerClient pc,
                   short indexOfDevice)

Constructor for IRInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

Read the IR values.

Overrides:

readData in class PlayerDevice

getVoltages

public int[] getVoltages()

Returns the IR array data voltages up to PLAYER_IR_MAX_SAMPLES.

Returns:

an array filled with the IR voltages

getRanges

public int[] getRanges()

Returns the IR array data ranges up to PLAYER_IR_MAX_SAMPLES.

Returns:

an array filled with the IR ranges

getRangeCount

public int getRangeCount()

Returns the number of IR sensors specified in the Player world file (the number of valid range readings).

Returns:

the number of IR sensors specified in the Player world file as an integer

queryPose

public void queryPose()

Configuration request: Query pose.

See the player_ir_pose structure from player.h

setIRPower

public void setIRPower(int value)

Configuration request: IR power.

Parameters:

value - 0 for power off, 1 for power on

handleResponse

public void handleResponse(int size)

Handle acknowledgement response messages (threaded mode).

Overrides:

handleResponse in class PlayerDevice

Parameters:

size - size of the payload

isPIPRTReady

public boolean isPIPRTReady()

Check if geometry data is available.

Returns:

true if ready, false if not ready

getPIPRT

public PlayerIRPoseReqT getPIPRT()

Get the geometry data.

Returns:

an object of type PlayerIRPoseReqT containing the required geometry data