Java Reference
In-Depth Information
robotPos.rototras(centre);
// front's coordinates according to the robot position
robotPos.rototras(front);
// intersects the laser beam with the obstacles'
// boundaries
for
(
int
i
#
0; i < environment.obstacles.size(); i
!!
)
...
}
}
Class
Robot
is the container of the robot's devices. It maintains a
Position
variable that records the current robot position with regard to the global
reference frame. This variable is modified by the mobile platform and is
passed to all the robot's devices to keep track of their position in the
environment.
package
moro;
import
java.util.*;
import
java.awt.*;
public class
Robot {
String name; // the robot name
Position position;
// the robot position in the global reference frame
Environment environment;
// a reference to the environment
Platform platform;
// a reference to the mobile platform
ArrayList sensors
#
new
ArrayList();
// the list of sensor devices
public
Robot(String name,
double
x,
double
y,
double
t, Environment env) {
this
.name
#
name;
this
.environment
#
env;
position
#
new
Position(x, y, Math.toRadians(t));
platform
#
new
Platform("P1",
this
, env);
sensors.add(
new
Laser("L1",
this
,
new
Position(20.0, 0.0, 0.0), env));
}
public void
paint(Graphics g) {
platform.paint(g); // paints all the mobile platform
... // paints the sensor devices
}
}
Class
Obstacle
encapsulates an object of class
Polygon
and implements the
methods for parsing the obstacle description from the XML input file and for
visualizing its geometric shape.
