A B C D E F G I K L M N O P Q R S T V X Y

A

actionType - Variable in class simulator.RobotAgent
Type of action to performe (-1=reduce vel.,1=add velocity)
actualPos - Variable in class simulator.RobotAgent
Contains actual position of the mass robot center
actualVel - Variable in class simulator.RobotAgent
Contains actual velocity of the mass robot center
AddFileClientCommand - class simulator.AddFileClientCommand.
Add the group of robot for simulation based for file
AddFileClientCommand() - Constructor for class simulator.AddFileClientCommand
Initialize object for ADDFILE command
adjustBoxesPosition(BarState, BarState) - Method in class simulator.BarSendVRML
Adjust position of all boxes to reflect new bar position
adjustRobotSensor(BarState) - Method in class simulator.BarSendVRML
Adjust the position of sensor to be valid with the new position of the bar.
agentQueue - Variable in class simulator.RobotAgent
tile where change message with server
alfa - Variable in class simulator.RobotAgent
angle to turn when behavior of second sensor is active
alfaMax - Static variable in class simulator.RobotAgent
Max angle to turn when we have max force in second sensor
alfaMin - Static variable in class simulator.RobotAgent
Min angle to turn when we have min force in second sensor
angle - Variable in class simulator.RobotAgent
Contains angle rotation about x axle (but is the same of the y axle and the perpendicular of the bar)
attachedBar - Variable in class simulator.BoxState
True if the box has the same angle of the bar

B

BarAmbient - class simulator.BarAmbient.
Implement the ambient for robot bar boxs puhing
BarAmbient() - Constructor for class simulator.BarAmbient
 
barLength - Static variable in class simulator.Fisical
Length of the bar
barMass - Static variable in class simulator.Fisical
Mass of the bar
barRadius - Static variable in class simulator.Fisical
Radius of the bar
BarSendVRML - class simulator.BarSendVRML.
Impements the method that calculate position of robot and send the vrml scene
BarSendVRML() - Constructor for class simulator.BarSendVRML
 
BarServer - class simulator.BarServer.
 
BarServer(String[]) - Constructor for class simulator.BarServer
 
BarServerAmbient - class simulator.BarServerAmbient.
Implements the class that performes the server ambient
BarServerAmbient() - Constructor for class simulator.BarServerAmbient
 
BarState - class simulator.BarState.
Contains information about the position of a bar
BarState(BarState) - Constructor for class simulator.BarState
Initialize position of bar
BarState(Position, double) - Constructor for class simulator.BarState
Initialize position of bar
behavior - Variable in class simulator.RobotState
Contains actual behavior we are executing (it's use for changing robot color)
box - Variable in class simulator.BarSendVRML
Contains a list of non collided box state position
boxColl - Variable in class simulator.BarSendVRML
Contains a list of collided with bar box state position
boxDim - Static variable in class simulator.Fisical
Dimension of the cube (length, height, depth)
boxDinamicRot - Static variable in class simulator.Fisical
Box dinamic attrition of rotation (wood on stone)
boxDinamicTra - Static variable in class simulator.Fisical
Box dinamic attrition of translation (wood on stone)
boxMass - Static variable in class simulator.Fisical
Mass of the cube
boxRotation(BarState, BarState, BoxState, BoxState) - Method in class simulator.BarSendVRML
Calculates the rotation of the box that is done by the bar changing position.
BoxState - class simulator.BoxState.
Contains information about the position of a box
BoxState(BoxState) - Constructor for class simulator.BoxState
Initialize box position using another box
BoxState(Position, double, int) - Constructor for class simulator.BoxState
Initialize position of box
boxStaticRot - Static variable in class simulator.Fisical
Box static attrition of rotation (wood on stone)
boxStaticTra - Static variable in class simulator.Fisical
Box static attrition of translation (wood on stone)
boxWeight - Static variable in class simulator.Fisical
Wieght of box in N
buildStatic(Connection) - Method in class simulator.BarAmbient
 

C

coefAttrition1 - Static variable in class simulator.Fisical
Attrition coefficient of support in direction of sensor 1 metal su metal (dry condition)
coefAttrition2 - Static variable in class simulator.Fisical
Attrition coefficient of support in direction of sensor 2 metal su metal (dry condition)
coefAttrition3 - Static variable in class simulator.Fisical
Attrition coefficient of prismatic couple in orrizzontal metal su metal (dry condition)
coefAttrition4 - Static variable in class simulator.Fisical
Attrition coefficient of prismatic couple in vertical metal su metal (dry condition)
coefAttrition5 - Static variable in class simulator.Fisical
Moment attrition coefficient of rotoidal couple metal su metal
coefAttrition6 - Static variable in class simulator.Fisical
Moment attrition coefficient of rotoidal couple in the support metal su metal
collidedBox(BoxState, BarState) - Method in class simulator.BarSendVRML
Determine if the passed box has collided with the bar.
collisionBar - Variable in class simulator.BoxState
True if the box is collided to the bar
collisionDetect(BarState) - Method in class simulator.BarSendVRML
Detect if the bar has collided to boxes object.
contactPoint - Variable in class simulator.BoxState
Contain the relative position from bar massCenter of the point that box corner is in contact with the bar.
crossProduct(Position) - Method in class simulator.Position
Performs a cross product of vector
crossProduct(Position, Position, Position, Position) - Method in class simulator.BarSendVRML
Search for intersection of line (p1,p2) and (p3,p4) using the cross product algorithm

D

DelFileClientCommand - class simulator.DelFileClientCommand.
Del the group of robot of simulation
DelFileClientCommand() - Constructor for class simulator.DelFileClientCommand
Initialize object for DELFILE command
delta - Variable in class simulator.BarSendVRML
Use to stimate new solution angle
diff(Position) - Method in class simulator.Position
Calculate the difference between this vector and the passed vector
dist(Position) - Method in class simulator.Position
Calculate the distance beetween this vector and the passed vector

E

epsForce1 - Static variable in class simulator.RobotAgent
Min variation of force in first sensor that activate behavior
epsForce2 - Static variable in class simulator.RobotAgent
Min force of second sensor that activate behavior
epsGoal - Static variable in class simulator.RobotAgent
Max error that we want for achieving goal
epsNearGoal - Static variable in class simulator.RobotAgent
Min distance for robot and goal that is to considerate near

F

findAngle(Position) - Method in class simulator.Position
Find the angle between this vector and the passed vector
findBoxVertexes(BoxState, Position, Position, Position, Position) - Method in class simulator.BarSendVRML
Calculates the 4 vertexes of the box using fisical dimension and orientation
Fisical - class simulator.Fisical.
Contain costant information about simulation object
Fisical() - Constructor for class simulator.Fisical
 
FisicalClientCommand - class simulator.FisicalClientCommand.
Set some fisical parameter of the simulator objects
FisicalClientCommand() - Constructor for class simulator.FisicalClientCommand
Initialize object for FISICAL command
force1 - Variable in class simulator.RobotAgent
Force that sensor 1 support (in Newton)
force1Max - Static variable in class simulator.RobotAgent
Max delta force of first sensor for changing velocity
force1Min - Static variable in class simulator.RobotAgent
Min delta force of first sensor for changing velocity
force2 - Variable in class simulator.RobotAgent
Force that sensor 2 support (in Newton)
force2Max - Static variable in class simulator.RobotAgent
Max force of second sensor use for turning with max angle
force2Min - Static variable in class simulator.RobotAgent
Min force of second sensor use for turning with min angle

G

g - Static variable in class simulator.Fisical
gravity acceleration
get() - Method in class simulator.OldValue
Get the oldest value
getCollidedPoints(double, double, BarState, BoxState, Position, Position) - Method in class simulator.BarSendVRML
Calculates the two points solution of box corner that collided to the bar
getRelative(Position, BarState) - Method in class simulator.BarSendVRML
Get the relative position of one point respect the mass center of the bar NB the point are the external of the bar
goal - Variable in class simulator.RobotAgent
Contains goal position of the mass robot center
goalAngle - Variable in class simulator.RobotAgent
Contains final angle rotation about x axle

I

I - Variable in class simulator.RobotAgent
Progressive identifier for robot (must be 1,2,...)
ID - Variable in class simulator.BoxState
Identification number for box
init() - Method in class simulator.BarServer
 
interpolation(BarState, BarState, double) - Method in class simulator.BarSendVRML
Interpolate the position of bar using linear algorithm

K

K - Variable in class simulator.BarSendVRML
number of collided box

L

lock - Variable in class simulator.BoxState
If true means that the box is stopped, so there's static attrition

M

M - Variable in class simulator.BarSendVRML
Number of non collided boxs
main(String[]) - Static method in class simulator.BarServer
 
massCenter - Variable in class simulator.BoxState
The x,y position of the center of mass of box
massCenter - Variable in class simulator.BarState
The x,y position of the center of mass of bar
massCenter - Variable in class simulator.SensorState
The x,y position of the mass center
massCenter - Variable in class simulator.RobotState
Contains actual position of the mass robot center
massCenterVel - Variable in class simulator.RobotState
Contains actual velocity of agents
maxRobot - Static variable in class simulator.Fisical
Max number of robot for one bar
moveBackBar(BarState, BarState, int[]) - Method in class simulator.BarSendVRML
Move the bar back until to the point that there's the minimum boxes that collided
multiply(double) - Method in class simulator.Position
Multiply the vector for a costant value

N

n - Variable in class simulator.OldValue
The actual size of sliding window
N - Variable in class simulator.OldValue
The number of element to remember
N - Variable in class simulator.BarSendVRML
Number of robots
name - Variable in class simulator.RobotAgent
Name of the agent
non_linear_Newton_Raphson(BarState, double, double[], double[], double[]) - Method in class simulator.BarSendVRML
Calculate the numeric solution of the non-linear equations (Fx=0, Fy=0, M=0, sensor...) using Newton-Raphson algorithm

O

old - Variable in class simulator.OldValue
The storage of element to remember
old - Variable in class simulator.RobotAgent
A sliding window of old value
old1 - Variable in class simulator.RobotAgent
Force that sensor 1 was supporting previus time
old2 - Variable in class simulator.RobotAgent
Force that sensor 2 was supporting previus time
OldValue - class simulator.OldValue.
Remember a sliding window of old value
OldValue(int) - Constructor for class simulator.OldValue
Build an empty window of value

P

perpendicularPoint(Position, BarState, double, double) - Method in class simulator.BarSendVRML
Calculates the point that is perpendicular to the bar from the box center of mass
Position - class simulator.Position.
This class rappresent a 2D vector with some operation
Position(double, double) - Constructor for class simulator.Position
Initialize vector with initial value
Position(Position) - Constructor for class simulator.Position
Initialize vector with another vector
prismaticWeight - Static variable in class simulator.Fisical
Weight of prismatic couple in orrizzontal

Q

quickRejection(Position, Position, Position, Position) - Method in class simulator.BarSendVRML
Determine if there's intersection between (p1,p2) and (p3,p4) rectangles (bounding box of original line)

R

relativePos - Variable in class simulator.RobotState
Contains relative position of robot sensor in respenct of the bar mass center
resultForce - Variable in class simulator.RobotState
Result force that the bar and support apply to robot
robot - Variable in class simulator.BarSendVRML
Contains a list of robots state position
RobotAgent - class simulator.RobotAgent.
Execute the task of the robot pushing bar
RobotAgent(int, String, Position, double, Position, double, Queue[], int) - Constructor for class simulator.RobotAgent
Initilize actual position and goal position of the robot agent
robotCounterbalanceMass - Static variable in class simulator.Fisical
Mass of the robot counterbalance for bar
robotHeight - Static variable in class simulator.Fisical
Height of the robot
robotRadius - Static variable in class simulator.Fisical
Radius of the robot
robotRemoval1 - Static variable in class simulator.Fisical
Length of removal 1 of sensor by mass center of robot
robotRemoval2 - Static variable in class simulator.Fisical
Length of removal 2 of sensor by mass center of robot
RobotState - class simulator.RobotState.
Contains information about position/velocity of agent
RobotState(Position, double, Position, double, double) - Constructor for class simulator.RobotState
Initilize actual position and other information of the robot agent
robotSupportMass - Static variable in class simulator.Fisical
Mass of the robot support for bar
run() - Method in class simulator.RobotAgent
Executes behavior-based stategy for the robot
runCommand(StringTokenizer, Connection) - Method in class simulator.AddFileClientCommand
Add robots for simulation using file information.
runCommand(StringTokenizer, Connection) - Method in class simulator.DelFileClientCommand
 
runCommand(StringTokenizer, Connection) - Method in class simulator.FisicalClientCommand
 
runTask() - Method in class simulator.BarSendVRML
Calculate the position of all object in the simulation ambient
runTask() - Method in class simulator.BarServerAmbient
Search (and execute) for tile message as: GET POS : get position of agents GET FOR1 : get force of sensor 1 GET FOR2 : get force of sensor 2 PUT VEL : put new velocity of agents PUT ANGLE : put new direction of robot PUT BEH : put actual behavior we are using

S

sendVRML() - Method in class simulator.BarSendVRML
Send the new vrml scene to all the connected clients
sensor - Variable in class simulator.BarSendVRML
Contains a list of sensors state position
sensor1Costant - Static variable in class simulator.Fisical
Elastic costant of sensor 1
sensor1Length - Variable in class simulator.RobotState
Contain actual length of sensor 1
sensor1Repose - Static variable in class simulator.Fisical
Repose length of the sensor 1
sensor2Costant - Static variable in class simulator.Fisical
Elastic costant of sensor 2
sensor2Length - Variable in class simulator.RobotState
Contain actual length of sensor 2
sensor2Repose - Static variable in class simulator.Fisical
Repose length of the sensor 2
sensorLength - Static variable in class simulator.Fisical
Length of the sensor 1
sensorRadius - Static variable in class simulator.Fisical
Radius of the sensor 1
SensorState - class simulator.SensorState.
Contain information about the position of the sensor
SensorState(Position, double) - Constructor for class simulator.SensorState
Initialize position of the sensor
set(double) - Method in class simulator.OldValue
Set the youngest value
shiftRadius(Position, double) - Method in class simulator.BarSendVRML
Calculates the position of a point in the bar that is traslated from simmetric axle becouse it is at the external of bar.
sign(double) - Method in class simulator.BarSendVRML
Calculate an approssimate sign of a parameter using a function that is continuos and has the first and second differential continuos (so it can be used by Newton-Rapson algorithm
sign1(double) - Method in class simulator.BarSendVRML
Calculate first differential of approssimate sign function in the passed parameter
signDouble(double) - Method in class simulator.BarSendVRML
Calculate the sign of the argument
stimatePosition(BarState) - Method in class simulator.BarSendVRML
Stimate the position of the bar to make the solution found by Newton-Raphson to be calcolated fast.
sum(Position) - Method in class simulator.Position
Calculate the sum vector of this vector and the passed vector

T

Tokens(StringTokenizer, int, Connection) - Method in class simulator.AddFileClientCommand
Determines if there's the expected number of tokens

V

Vmax - Static variable in class simulator.RobotAgent
Max velocity for the robot
Vmin - Static variable in class simulator.RobotAgent
Min velocity for the robot
Vnom - Static variable in class simulator.RobotAgent
Nominal velocity for the robot
Vperc - Static variable in class simulator.RobotAgent
Percentual of velocity to slowly readapt toward Vnom

X

x - Variable in class simulator.Position
 
xAngle - Variable in class simulator.BoxState
The orientation angle from x axle
xAngle - Variable in class simulator.BarState
The orientation angle from x axle
xAngle - Variable in class simulator.SensorState
The orientation angle from x axle
xAngle - Variable in class simulator.RobotState
Contains angle rotation about x axle (but is the same of the y axle and the perpendicular of the bar)

Y

y - Variable in class simulator.Position
 

A B C D E F G I K L M N O P Q R S T V X Y