javaclient
Class TruthInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.TruthInterface

public class TruthInterface
extends PlayerDevice

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.

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

protected short	PLAYER_TRUTH_GET_FIDUCIAL_ID
protected short	PLAYER_TRUTH_GET_POSE
protected short	PLAYER_TRUTH_SET_FIDUCIAL_ID
protected short	PLAYER_TRUTH_SET_POSE
protected short	PLAYER_TRUTH_SET_POSE_ON_ROOT

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

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

Method Summary

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

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_TRUTH_GET_POSE

protected final short PLAYER_TRUTH_GET_POSE

See Also:

Constant Field Values

PLAYER_TRUTH_SET_POSE

protected final short PLAYER_TRUTH_SET_POSE

See Also:

Constant Field Values

PLAYER_TRUTH_SET_POSE_ON_ROOT

protected final short PLAYER_TRUTH_SET_POSE_ON_ROOT

See Also:

Constant Field Values

PLAYER_TRUTH_GET_FIDUCIAL_ID

protected final short PLAYER_TRUTH_GET_FIDUCIAL_ID

See Also:

Constant Field Values

PLAYER_TRUTH_SET_FIDUCIAL_ID

protected final short PLAYER_TRUTH_SET_FIDUCIAL_ID

See Also:

Constant Field Values

Constructor Detail

TruthInterface

public TruthInterface(PlayerClient pc,
                      short indexOfDevice)

Constructor for TruthInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

Read the current state of the entity.

Overrides:

readData in class PlayerDevice

getXpos

public int getXpos()

Get X position in mm.

Returns:

X position in mm

getYpos

public int getYpos()

Get Y position in mm.

Returns:

Y position in mm

getZpos

public int getZpos()

Get Z position in mm.

Returns:

Z position in mm

getRhead

public int getRhead()

Get R orientation in millirad.

Returns:

R orientation in millirad

getPhead

public int getPhead()

Get P orientation in millirad.

Returns:

P orientation in millirad

getYhead

public int getYhead()

Get Y orientation in millirad.

Returns:

Y orientation in millirad

teleport

public void teleport(int x,
                     int y)

Set the pose of the current entity.

Parameters:

x - X position in mm

y - Y position in mm

teleport

public void teleport(int x,
                     int y,
                     int z)

Set the pose of the current entity.

Parameters:

x - X position in mm

y - Y position in mm

z - Z position in mm

teleport

public void teleport(int xp,
                     int yp,
                     int zp,
                     int ro,
                     int po,
                     int yo)

Set the pose of the current entity.

Parameters:

xp - X position in mm

yp - Y position in mm

zp - Z position in mm

ro - R orientation in millirad

po - P orientation in millirad

yo - Y orientation in millirad

isTeleported

public boolean isTeleported()

Check if the teleportation (PLAYER_TRUTH_SET_POSE) was successful or not.

Returns:

true if successful, false if not

handleResponse

public void handleResponse(int size)

Handle acknowledgement response messages (threaded mode).

Overrides:

handleResponse in class PlayerDevice

Parameters:

size - size of the payload