Mobile robot exploration - Software Development Case Studies in Java - page 249

public class Platform extends Device {
public Platform(String name, Robot robot, Environment env){
super(name, robot, new Position(0.0, 0.0, 0.0), env);
this .addPoint(20, 20); this .addPoint(30, 10);
this .addPoint(30, -10); this .addPoint(20, -20);
this .addPoint(-20, -20); this .addPoint(-20, 20);
}
}
Class Laser inherits from the abstract class Device and implements the
read() method that measures the distance from the laser to the nearest
obstacles around the robot. The inner class Measure records a laser measure-
ment in terms of distance from a point on an obstacle's boundary and of
current direction of the rotary tower.
package moro;
import java.awt.*;
import java.awt.geom.*;
import java.util.*;
public class Laser extends Device{
class Measure {
double distance # 0.0; // distance from an obstacle
double direction # 0.0;
// current direction of the rotary tower
}
ArrayList scanMeasures # new ArrayList();
// list of measures
int range # 100; // maximum range in centimetres
public Laser(String name, Robot robot,
Position local, Environment env) {
super (name, robot, local, env);
this .addPoint(0, 2); this .addPoint(100, 2);
this .addPoint(100, -2); this .addPoint(0, -2);
}
// if first is true, returns the distance to the first
// obstacle encountered otherwise it returns the distance
// to the nearest obstacle
public double read( boolean first) {
Point2D centre # new Point2D.Double(localPos.getX(),
localPos.getY());
Point2D front # new Point2D.Double(localPos.getX() !
range * Math.cos(localPos.getT()),
localPos.getY() !
range *Math.sin(localPos.getT()));
// reads the robot's position
robot.readPosition(robotPos);
// centre's coordinates according to the robot position