testsimbatch.java

一款机器人仿真软件,功能上与microsoft robotics studio有些相似,但基于Java平台.突出特点是给出了传感器仿真,如声纳,激光等.

/* author: Louis Hugues - created on 12 f巚r. 2005  */
package simbad.gui;


import javax.vecmath.Vector3d;
import simbad.sim.*;

/**
 * Test of the batch mode - test Simbatch class.  
 */
public class TestSimbatch extends EnvironmentDescription {

    public TestSimbatch() {
        Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
        w1.rotate90(1);
        add(w1);
        Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
        w2.rotate90(1);
        add(w2);
        Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
        add(w3);
        Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
        add(w4);

        add(new MyRobot(new Vector3d(-4, 0, -3.5f), "robot"));
    }

    public class MyRobot extends Agent {

        public MyRobot(Vector3d position, String name) {
            super(position, name);
        }

        /** Initialize Agent's Behavior */
        public void initBehavior() {
        // nothing particular in this case
        }

        /** Perform one step of Agent's Behavior */
        public void performBehavior() {
            
            if (collisionDetected()) {
                moveToStartPosition();
            } else {
                // progress at 0.5 m/s
                setTranslationalVelocity(0.1);
                setRotationalVelocity(0);
            }
           if (getCounter()% 100000 ==0)
                System.out.println("Counter "+ getCounter());
        }
    }

    public static void main(String[] args) {
        Simbatch sim = new Simbatch(new TestSimbatch(),true);
        sim.reset();
        for (int i = 0 ; i < 10000000;i++) {
            sim.step();
        }
        System.out.println("Done...");
        sim.dispose();
        System.exit(0);
    }
}