simplen150.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

/*
 * 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;// original 0.508
	public final double MAX_STEER = 0.7854;
	public final double RADIUS = 0.35;         // original 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 = 0.33;    // original 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);
	
	// This is used for testing the if the robot can get help to  
	// deliver the food of visual class 1. added by yym (06/11/15)
	public abstract boolean canGetHelp();
	public abstract int     getFoodID();
	public abstract int     getFoodType();
	public abstract void    setWaitTag(boolean wait);
	public abstract boolean getWaitTag();
	public abstract void    setInGripper();//used for reopen when waiting	
	public abstract boolean checkOverlap(double safeRange);//used for checking overlap with others.
	
	// This is used for calculating the social potential field. YYM (07/04/03)
	public abstract Vec2[]  getNeighbour();
	// by yxh 052207 for lineformation(yym)
	public abstract Vec2    getNeighbourLocation(int neighbourID);
	// by yxh 052907 calculate the max id of the robots
	public abstract int maxID();
	
	//public abstract void unicast(int id);
	
	}