javaclient
Class SimulationInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.SimulationInterface

public class SimulationInterface
extends PlayerDevice

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.

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes

Author:

Radu Bogdan Rusu

Field Summary

protected short	PLAYER_SIMULATION_GET_POSE2D
static short	PLAYER_SIMULATION_IDENTIFIER_MAXLEN the maximum length of a string indentifying a simulation object
protected short	PLAYER_SIMULATION_SET_POSE2D

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

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

Method Summary

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

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

Methods inherited from class java.lang.Object

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

Field Detail

PLAYER_SIMULATION_SET_POSE2D

protected final short PLAYER_SIMULATION_SET_POSE2D

See Also:

Constant Field Values

PLAYER_SIMULATION_GET_POSE2D

protected final short PLAYER_SIMULATION_GET_POSE2D

See Also:

Constant Field Values

PLAYER_SIMULATION_IDENTIFIER_MAXLEN

public static final short PLAYER_SIMULATION_IDENTIFIER_MAXLEN

the maximum length of a string indentifying a simulation object

See Also:

Constant Field Values

Constructor Detail

SimulationInterface

public SimulationInterface(PlayerClient pc,
                           short indexOfDevice)

Constructor for SimulationInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

set2DPose

public void set2DPose(java.lang.String identifier,
                      int x,
                      int y,
                      int theta)

Configuration request: set 2D pose of a named simulation object.

To set or get the pose of an object in a simulator, use this message type. If the subtype is PLAYER_SIMULATION_SET_POSE2D, the server will ask the simulator to move the named object to the location specified by (x,y,a) and return ACK.

See the player_simulation_pose2d_req structure from player.h

get2DPose

public void get2DPose(java.lang.String identifier)

Configuration request: get 2D pose of a named simulation object.

To set or get the pose of an object in a simulator, use this message type. If the subtype is PLAYER_SIMULATION_GET_POSE2D, the server will attempt to locate the named object and reply with the same packet with (x,y,a) filled in. For all message subtypes, if the named object does not exist, or some other error occurs, the request should reply NACK.

See the player_simulation_pose2d_req structure from player.h

handleResponse

public void handleResponse(int size)

Handle acknowledgement response messages (threaded mode).

Overrides:

handleResponse in class PlayerDevice

Parameters:

size - size of the payload

handleNARMessage

public void handleNARMessage()

Handle negative acknowledgement response messages.

Overrides:

handleNARMessage in class PlayerDevice

getSimulationPose2D

public PlayerSimulationPose2D getSimulationPose2D()

Get the 2D pose of a named simulation object.

Returns:

an object of type PlayerSimulationPose2D containing the required pose data

isPose2DReady

public boolean isPose2DReady()

Check if pose data is available.

Returns:

true if ready, false if not ready