simulatedobject.java

利用JAVA编写的群体机器人局部通讯完成一定得队形控制

/*
 * SimulatedObject.java
 */

package EDU.gatech.cc.is.simulation;

import java.awt.*;
import EDU.gatech.cc.is.util.Vec2;
import EDU.gatech.cc.is.util.Units;
import EDU.gatech.cc.is.communication.Message;

import EDU.cmu.cs.coral.util.Polygon2;
import EDU.cmu.cs.coral.util.Circle2;


 /* * Most of these methods are used by other simulated objects to either
 * generate simulated sensor values or reproduce accurate dynamic results.
 * <P>
 * Copyright (c)2000 Tucker Balch
 *
 * @author Tucker Balch
 * @version $Revision: 1.3 $
 */

public interface SimulatedObject
	{
    /**
     * Initialize a simulated object.  Called automatically by
	 * JavaBotSim.
	 * @param x the initial x position.
	 * @param y the initial y position.
	 * @param t orientation.
	 * @param r radius.
	 * @param fg the foreground color of the object when drawn.
	 * @param bg the background color of the object when drawn.
	 * @param vc the vision class of the object - for use 
	 *	by simulated vision.
	 * @param id a unique ID number fore the object.
	 * @param s  random number seed.
         */
	public abstract void init(double x, double y, double t, double r,
			Color fg, Color bg, int vc, int id, long s);


        /**
         * Take a simulated step.
	 * @param time_increment how much time has elapsed since
	 * the last call.
	 * @param all_objects the other objects in the simulation.
         */
	public abstract void takeStep(long time_increment, 
		SimulatedObject[] all_objects);


        /**
	 * true if the object should be considered an obstacle, false otherwise.
	 * @return true if the object should be considered an obstacle, 
	 * false otherwise.
         */
	public boolean isObstacle();


        /**
	 * true if the object is pushable false otherwise.
	 * @return true if the object is pushable, false otherwise.
         */
	public boolean isPushable();


        /**
	 * true if the object can be picked up, false otherwise.
	 * @return true if the object can be picked up, false otherwise.
         */
	public boolean isPickupable();


        /**
	 * Find the closest point on the object from a particular location.
	 * This is useful for obstacle avoidance and so on.
	 * @param from the place from which the point is determined.
	 * @return the closest point.
         */
	public abstract Vec2 getClosestPoint(Vec2 from);

        /**
	 * determine if the object is intersecting with a specified circle.
	 * This is useful for obstacle avoidance and so on.
	 * @param c the circle which may be intersecting the current object.
	 * @return true if collision detected.
         */
	public boolean checkCollision(Circle2 c);

        /**
	 * determine if the object is intersecting with a specified polygon.
	 * This is useful for obstacle avoidance and so on.
	 * @param p the polygon which may be intersecting the current object.
	 * @return true if collision detected.
         */
	public boolean checkCollision(Polygon2 p);


        /**
	 * Find the center point of the object in absolute coordinates.
	 * @return the point.
         */
	public abstract Vec2 getPosition();


        /**
	 * Find the center point of the object from a particular location.
	 * @param from the place from which the point is determined.
	 * @return the center point.
         */
	public abstract Vec2 getCenter(Vec2 from);


        /**
	 * Try to push the object.
	 * @param d the direction and distance of the push.
	 * @param v the velocity of the push.
         */
	public void push(Vec2 d, Vec2 v);


        /**
	 * Try to pick up the object.
	 * @param o the object picking it up - this is used for 
	 * 	drawing purposes.
         */
	public void pickUp(SimulatedObject o);


        /**
	 * Try to put down the object.
	 * @param p the location of deposit.
         */
	public abstract void putDown(Vec2 p);


        /**
	 * Change the way the object is perceived by vision hardware.
	 * This can be used to make old targets invisible (a simulation
	 * hack.... sorry).
	 * @param v the new vision class.
         */
	public void setVisionClass(int v);


        /**
	 * Return the vision class of the object.
	 * @param v the new vision class.
         */
	public int getVisionClass();


        /**
	 * Return the id.
         */
	public int getID();


        /**
	 * Set the id of the object.
	 * @param id the new id.
         */
	public void setID(int id);


        /**
	 * Receive a message.  This is principally for robot to robot
	 * communication.  Most objects can safely ignore this.
	 * @param m the message.
         */
	public void receive(Message m);


	/**
	 * Clean up.
	 */
	public void quit();


	/**
	 * Draw the object.
	 * @param g graphics area to draw the object.
	 * @param w the width in pixels of g.
	 * @param h the height in pixels of g.
	 * @param t the y coordinate represented by the top boundary of
	 * the drawing area.
	 * @param b the y coordinate represented by the bottom boundary of
	 * the drawing area.
	 * @param l the x coordinate represented by the left boundary of
	 * the drawing area.
	 * @param r the x coordinate represented by the right boundary of
	 * the drawing area.
	 */
	public void draw(Graphics g, int w, int h,
		double t, double b, double l, double r);


	/**
	 * Draw the object as an icon.
	 * @param g graphics area to draw the object.
	 * @param w the width in pixels of g.
	 * @param h the height in pixels of g.
	 * @param t the y coordinate represented by the top boundary of
	 * the drawing area.
	 * @param b the y coordinate represented by the bottom boundary of
	 * the drawing area.
	 * @param l the x coordinate represented by the left boundary of
	 * the drawing area.
	 * @param r the x coordinate represented by the right boundary of
	 * the drawing area.
	 */
	public void drawIcon(Graphics g, int w, int h,
		double t, double b, double l, double r);


	/**
	 * Draw the object's ID.
	 * @param g graphics area to draw the object.
	 * @param w the width in pixels of g.
	 * @param h the height in pixels of g.
	 * @param t the y coordinate represented by the top boundary of
	 * the drawing area.
	 * @param b the y coordinate represented by the bottom boundary of
	 * the drawing area.
	 * @param l the x coordinate represented by the left boundary of
	 * the drawing area.
	 * @param r the x coordinate represented by the right boundary of
	 * the drawing area.
	 */
	public void drawID(Graphics g, int w, int h,
		double t, double b, double l, double r);


	/**
	 * Draw the object's trail.
	 * @param g graphics area to draw the object.
	 * @param w the width in pixels of g.
	 * @param h the height in pixels of g.
	 * @param t the y coordinate represented by the top boundary of
	 * the drawing area.
	 * @param b the y coordinate represented by the bottom boundary of
	 * the drawing area.
	 * @param l the x coordinate represented by the left boundary of
	 * the drawing area.
	 * @param r the x coordinate represented by the right boundary of
	 * the drawing area.
	 */
	public void drawTrail(Graphics g, int w, int h,
		double t, double b, double l, double r);


	/**
	 * Set the length of the trail (in movement steps).
	 * Non-robots can ignore this.
	 * @param l int, the length of the trail.
	 */
	public void setTrailLength(int l);


	/**
	 * Clear the trail.
	 * Non-robots can ignore this.
	 */
	public void clearTrail();


	/**
	 * Draw the object's state.
	 * @param g graphics area to draw the object.
	 * @param w the width in pixels of g.
	 * @param h the height in pixels of g.
	 * @param t the y coordinate represented by the top boundary of
	 * the drawing area.
	 * @param b the y coordinate represented by the bottom boundary of
	 * the drawing area.
	 * @param l the x coordinate represented by the left boundary of
	 * the drawing area.
	 * @param r the x coordinate represented by the right boundary of
	 * the drawing area.
	 */
	public void drawState(Graphics g, int w, int h,
		double t, double b, double l, double r);


	/**
	 * Draw the object in a specific spot, regardless of where it really
	 * is.
	 * @param p location to draw it at.
	 * @param g graphics area to draw the object.
	 * @param w the width in pixels of g.
	 * @param h the height in pixels of g.
	 * @param t the y coordinate represented by the top boundary of
	 * the drawing area.
	 * @param b the y coordinate represented by the bottom boundary of
	 * the drawing area.
	 * @param l the x coordinate represented by the left boundary of
	 * the drawing area.
	 * @param r the x coordinate represented by the right boundary of
	 * the drawing area.
	 */
	public abstract void draw(Vec2 p, Graphics g, int w, int h,
		double t, double b, double l, double r);
	}