simplen150.java

一个多机器人的仿真平台

/*
 * SimpleN150.java
 */

package EDU.gatech.cc.is.abstractrobot;

import EDU.gatech.cc.is.util.Vec2;


/**
 * Provides an abstract interface to the hardware of
 * a basic Nomadic Technologies Nomad 150 robot (no vision, gripper
 * or communication).
 * In addition to the capabilities provided by a Simple robot,
 * we also get a rotating turret.
 * <P>
 * <A HREF="../COPYRIGHT.html">Copyright</A>
 * (c)1997, 1998 Tucker Balch
 *
 * @author Tucker Balch
 * @version $Revision: 1.1 $
 */

public interface SimpleN150 extends SimpleInterface
	{
	public final double MAX_TRANSLATION = 0.508;
	public final double MAX_STEER = 0.7854;
	public final double RADIUS = 0.247;

	/**
	 * Max rate of turn of the turret in radians/sec.
	 */
	public final double MAX_TURRET = 0.7854;

	/**
	 * How far sonar ring is from center of robot.
	 */
	public final double SONAR_RADIUS = 0.23;

	
	/**
	 * Get the current heading of the turret motor.
	 * @param timestamp only get new information 
	 *        if timestamp > than last call or timestamp == -1.
	 * @return the turret heading in radians.
	 * @see SimpleN150#setTurretHeading
	 * @see SimpleN150#resetTurretHeading
	 */
	public abstract double getTurretHeading(long timestamp);
	

	/**
	 * Reset the turret odometry of the robot in global coordinates.
	 * This might be done when reliable sensor information provides
	 * a very good estimate of the robot's turret heading.
	 * Do this only if you are certain you're right!
	 * @param heading the new turret heading in radians.
	 * @see SimpleN150#getTurretHeading
	 * @see SimpleN150#setTurretHeading
	 */
	public abstract void resetTurretHeading(double heading);
	
	/**
	 * Set the desired heading for the turret motor.
	 * @param timestamp only get new information 
	 *        if timestamp > than last call or timestamp == -1.
	 * @param heading the heading in radians.
	 * @see SimpleN150#getTurretHeading
	 * @see SimpleN150#resetTurretHeading
	 */
	public abstract void setTurretHeading(long timestamp, double heading);
	}