ensemble.movement

Class MovementReasoning

java.lang.Object

ensemble.MusicalAgentComponent

ensemble.Reasoning

ensemble.movement.MovementReasoning

All Implemented Interfaces:

LifeCycle, RouterClient

public class MovementReasoning
extends Reasoning

Given a set of waypoints and a time constraint to get there, this reasoning tries to walk.

Author:

lfthomaz

Field Summary

Fields

Modifier and Type	Field and Description
private int	active_waypoint The active_waypoint.
private Vector	actual_ori The actual_ori.
private Vector	actual_pos The actual_pos.
private Vector	actual_vel The actual_vel.
static double	EPSILON The Constant EPSILON.
private Sensor	eyes The eyes.
private Memory	eyesMemory The eyes memory.
private boolean	inverted The inverted.
private Vector	last_acc The last_acc.
private double	last_distance The last_distance.
private Actuator	legs The legs.
private Memory	legsMemory The legs memory.
private boolean	loop The loop.
private double	MAX_ACELERATION The max aceleration.
private double	precision The precision.
private java.util.ArrayList<java.lang.Double>	time_constrains The time_constrains.
private double	total_distance The total_distance.
private java.util.ArrayList<Vector>	waypoints The waypoints.

Fields inherited from class ensemble.MusicalAgentComponent

parameters

Constructor Summary

Constructors

Constructor and Description
MovementReasoning()

Method Summary

Methods

Modifier and Type	Method and Description
protected void	eventHandlerRegistered(EventHandler evtHdl) Chamado no momento em que um novo EventHandler é registrado no Agente Musical.
boolean	init() User-implemented initialization method, called by start().
void	newSense(Sensor sourceSensor, double instant, double duration) Chamado no momento que o Agente Musical recebe um novo evento (e o raciocínio está registrado no Sensor).
void	process() Método de processamento do raciocínio.
void	processCommand(Command cmd) An user-implemented method to process a received command.
private void	sendAccCommand(Vector acc, double dur) Send acc command.
private void	sendStopCommand() Send stop command.

Methods inherited from class ensemble.Reasoning

eventHandlerDeregistered, needAction, needAction, setWakeUp, start, stop

Methods inherited from class ensemble.MusicalAgentComponent

addParameter, addParameters, configure, finit, getAddress, getAgent, getComponentName, getComponentType, getParameter, getParameter, getParameters, getState, getType, parameterUpdate, receiveCommand, sendCommand, setAgent, setComponentName, setParameters, setState, setType

Methods inherited from class java.lang.Object

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

Field Detail

EPSILON

public static final double EPSILON

The Constant EPSILON.

See Also:

Constant Field Values

legs

private Actuator legs

The legs.

eyes

private Sensor eyes

The eyes.

legsMemory

private Memory legsMemory

The legs memory.

eyesMemory

private Memory eyesMemory

The eyes memory.

waypoints

private java.util.ArrayList<Vector> waypoints

The waypoints.

time_constrains

private java.util.ArrayList<java.lang.Double> time_constrains

The time_constrains.

loop

private boolean loop

The loop.

active_waypoint

private int active_waypoint

The active_waypoint.

precision

private double precision

The precision.

last_distance

private double last_distance

The last_distance.

total_distance

private double total_distance

The total_distance.

last_acc

private Vector last_acc

The last_acc.

inverted

private boolean inverted

The inverted.

actual_pos

private Vector actual_pos

The actual_pos.

actual_vel

private Vector actual_vel

The actual_vel.

actual_ori

private Vector actual_ori

The actual_ori.

MAX_ACELERATION

private double MAX_ACELERATION

The max aceleration.

Constructor Detail

MovementReasoning

public MovementReasoning()

Method Detail

init

public boolean init()

Description copied from interface: LifeCycle

User-implemented initialization method, called by start().

Specified by:

init in interface LifeCycle

Overrides:

init in class MusicalAgentComponent

Returns:

true, if successful

eventHandlerRegistered

protected void eventHandlerRegistered(EventHandler evtHdl)

Description copied from class: Reasoning

Chamado no momento em que um novo EventHandler é registrado no Agente Musical.

Overrides:

eventHandlerRegistered in class Reasoning

Parameters:

evtHdl - the evt hdl

newSense

public void newSense(Sensor sourceSensor,
            double instant,
            double duration)

Description copied from class: Reasoning

Chamado no momento que o Agente Musical recebe um novo evento (e o raciocínio está registrado no Sensor).

Overrides:

newSense in class Reasoning

Parameters:

sourceSensor - the source sensor

instant - the instant

duration - the duration

processCommand

public void processCommand(Command cmd)

Description copied from interface: RouterClient

An user-implemented method to process a received command.

Specified by:

processCommand in interface RouterClient

Overrides:

processCommand in class MusicalAgentComponent

Parameters:

cmd - the cmd

process

public void process()

Description copied from class: Reasoning

Método de processamento do raciocínio.

Overrides:

process in class Reasoning

sendStopCommand

private void sendStopCommand()

Send stop command.

sendAccCommand

private void sendAccCommand(Vector acc,
                  double dur)

Send acc command.

Parameters:

acc - the acc

dur - the dur