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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--java.lang.Thread | +--simulator.Agent | +--simulator.RobotAgent
Execute the task of the robot pushing bar
Field Summary | |
int |
actionType
Type of action to performe (-1=reduce vel.,1=add velocity) |
(package private) Position |
actualPos
Contains actual position of the mass robot center |
(package private) Position |
actualVel
Contains actual velocity of the mass robot center |
(package private) simulator.Queue[] |
agentQueue
tile where change message with server |
double |
alfa
angle to turn when behavior of second sensor is active |
static double |
alfaMax
Max angle to turn when we have max force in second sensor |
static double |
alfaMin
Min angle to turn when we have min force in second sensor |
(package private) double |
angle
Contains angle rotation about x axle (but is the same of the y axle and the perpendicular of the bar) |
static double |
epsForce1
Min variation of force in first sensor that activate behavior |
static double |
epsForce2
Min force of second sensor that activate behavior |
static double |
epsGoal
Max error that we want for achieving goal |
static double |
epsNearGoal
Min distance for robot and goal that is to considerate near |
(package private) double |
force1
Force that sensor 1 support (in Newton) |
static double |
force1Max
Max delta force of first sensor for changing velocity |
static double |
force1Min
Min delta force of first sensor for changing velocity |
(package private) double |
force2
Force that sensor 2 support (in Newton) |
static double |
force2Max
Max force of second sensor use for turning with max angle |
static double |
force2Min
Min force of second sensor use for turning with min angle |
(package private) Position |
goal
Contains goal position of the mass robot center |
(package private) double |
goalAngle
Contains final angle rotation about x axle |
(package private) int |
I
Progressive identifier for robot (must be 1,2,...) |
(package private) java.lang.String |
name
Name of the agent |
(package private) OldValue |
old
A sliding window of old value |
(package private) double |
old1
Force that sensor 1 was supporting previus time |
(package private) double |
old2
Force that sensor 2 was supporting previus time |
static double |
Vmax
Max velocity for the robot |
static double |
Vmin
Min velocity for the robot |
static double |
Vnom
Nominal velocity for the robot |
static double |
Vperc
Percentual of velocity to slowly readapt toward Vnom |
Fields inherited from class java.lang.Thread |
contextClassLoader,
daemon,
eetop,
group,
inheritedAccessControlContext,
MAX_PRIORITY,
MIN_PRIORITY,
name,
NORM_PRIORITY,
priority,
single_step,
stillborn,
stopThreadPermission,
target,
threadInitNumber,
threadQ,
values |
Constructor Summary | |
RobotAgent(int i,
java.lang.String name,
Position p,
double a,
Position g,
double ga,
simulator.Queue[] pq,
int ct)
Initilize actual position and goal position of the robot agent |
Method Summary | |
void |
run()
Executes behavior-based stategy for the robot |
Methods inherited from class java.lang.Thread |
|
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
wait,
wait,
wait |
Field Detail |
Position actualVel
Position actualPos
Position goal
double angle
double goalAngle
simulator.Queue[] agentQueue
int I
java.lang.String name
double force1
double force2
double old1
double old2
public static final double Vmin
public static final double Vnom
public static final double Vmax
public static final double Vperc
public static final double epsGoal
public static final double epsNearGoal
public static final double epsForce1
public static final double epsForce2
public static final double alfaMax
public static final double alfaMin
public double alfa
public static final double force2Max
public static final double force2Min
public static final double force1Max
public static final double force1Min
public int actionType
OldValue old
Constructor Detail |
public RobotAgent(int i, java.lang.String name, Position p, double a, Position g, double ga, simulator.Queue[] pq, int ct)
i
- the identifier for the agent (must be 1,2,...)name
- the name of agentp
- the actual positiona
- the angleg
- the goal positionga
- the goal anglepq
- the queue for changing messagesct
- the type of control for behavior that reduce force2Method Detail |
public void run()
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