public interface IAgentModel
Modifier and Type | Method and Description |
---|---|
void |
attach(IObserver<IAgentModel> newObserver) |
void |
beamToPosition(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
Set the beam position of the agent.
|
boolean |
detach(IObserver<IAgentModel> oldObserver) |
IAccelerometer |
getAccelerometer(java.lang.String name)
Retrieve accelerometer values
|
java.util.List<IHingeJoint> |
getAllHingeJoints() |
double |
getAverageCoilTemperature() |
double |
getAverageMotorTemperature() |
IBodyPart |
getBodyPart(java.lang.String name) |
IBodyPart |
getBodyPartContainingCamera()
Returns the body part (of the sensed body model), which contains the
camera.
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] |
getBothLegKickRectangle()
Calculate the rectangle within the ball is kickable by both legs
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getCenterOfMass()
Get the Center of mass
|
IForceResistance |
getForceResistance(java.lang.String name)
Returns a specified force resistance sensor of the agent
|
IBodyModel |
getFutureBodyModel()
Returns the future body model, which is a copy of the sensed/expected body
model, on which the actions for the current cycle are performed.
|
IGyroRate |
getGyroRate(java.lang.String name)
Retrieves the specified gyro sensor
|
IHingeJointR |
getHJ(java.lang.String name)
Returns read only access to a specified hinge joint in the sensed body
model of the agent
|
IHingeJointR |
getHJExpected(java.lang.String name)
Returns read only access to a specified hinge joint in the expected body
model of the agent
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] |
getLeftLegKickRectangle()
Calculate the rectangle within the ball is kickable by the left leg
|
double |
getMaxCoilTemperature() |
double |
getMaxMotorTemperature() |
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] |
getRightLegKickRectangle()
Calculate the rectangle within the ball is kickable by the right leg
|
org.apache.commons.math3.geometry.euclidean.threed.Vector3D |
getStaticPivotPoint()
Returns the static pivot-point used as replacement of the CoM in the
balancing engine related movements.
|
IBodyPart |
getTorso()
Returns the root body part of the sensed body model.
|
IUniversalJoint |
getUJ(java.lang.String name)
Returns a specified universal joint of the agent
|
IHingeJoint |
getWriteableHJ(java.lang.String name)
Returns a specified hinge joint of the agent
|
void |
reflectTargetStateToAction()
This method is called from the AgentRuntime in order to reflect the
target-state of the agent model into effector-actions, which can then be
send to the server.
|
void |
sayMessage(java.lang.String message)
Set the message to say in that cycle.
|
void |
setStiffness(float stiffness) |
void |
shutOff(boolean off)
Shuts off robot by setting stiffness = 0 in case of true
|
boolean |
update(IPerception perception)
Called to trigger a update of the AgentModel based on the given perception
object.
|
void |
updateJointsSpeed(IBodyModel source)
Called to copy back joint speed values from the passed body model to this
agents body model.
|
boolean update(IPerception perception)
perception
- the Perceptionvoid reflectTargetStateToAction()
IUniversalJoint getUJ(java.lang.String name)
name
- the name of the joint as specified in
IServerConfigFilesConstants.UNIVERSALJOINT_NAMESIHingeJointR getHJ(java.lang.String name)
name
- the name of the joint as specified in
IServerConfigFilesConstants.HINGEJOINT_NAMESIHingeJointR getHJExpected(java.lang.String name)
name
- the name of the joint as specified in
IServerConfigFilesConstants.HINGEJOINT_NAMESIHingeJoint getWriteableHJ(java.lang.String name)
name
- the name of the joint as specified in
IServerConfigFilesConstants.HINGEJOINT_NAMESIForceResistance getForceResistance(java.lang.String name)
name
- the name of the sensor as specified in
IServerConfigFilesConstants.FORCERESISTANCE_NAMESIAccelerometer getAccelerometer(java.lang.String name)
name
- the name of the sensorIGyroRate getGyroRate(java.lang.String name)
name
- the name of the sensor as specified in
IServerConfigFilesConstants.GYRORATE_NAMESorg.apache.commons.math3.geometry.euclidean.threed.Vector3D getCenterOfMass()
void sayMessage(java.lang.String message)
message
- void beamToPosition(org.apache.commons.math3.geometry.euclidean.threed.Vector3D position)
position
- x, y, rot (in meter, resp. degrees)void attach(IObserver<IAgentModel> newObserver)
newObserver
- Observer object to add to the listmagma.util.observer.IPublishSubscribe#attach(magma.util.observer.
IObserver)
boolean detach(IObserver<IAgentModel> oldObserver)
oldObserver
- Observer object to delete from the listIPublishSubscribe.detach(magma.util.observer.IObserver)
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] getBothLegKickRectangle()
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] getLeftLegKickRectangle()
org.apache.commons.math3.geometry.euclidean.threed.Vector3D[] getRightLegKickRectangle()
IBodyPart getTorso()
IBodyPart getBodyPart(java.lang.String name)
name
- the name of the body part to retrieveIBodyModel getFutureBodyModel()
void updateJointsSpeed(IBodyModel source)
source
- the body model to take the values fromIBodyPart getBodyPartContainingCamera()
org.apache.commons.math3.geometry.euclidean.threed.Vector3D getStaticPivotPoint()
java.util.List<IHingeJoint> getAllHingeJoints()
double getMaxMotorTemperature()
double getAverageMotorTemperature()
double getMaxCoilTemperature()
double getAverageCoilTemperature()
void shutOff(boolean off)
off
- true to switch offvoid setStiffness(float stiffness)