A facade for Java platforms. More...

#include <JavaPlatform.h>

Inheritance diagram for gams::platforms::JavaPlatform:

Public Member Functions
	JavaPlatform (jobject obj, madara::knowledge::KnowledgeBase knowledge=0, variables::Sensors sensors=0, variables::Platforms platforms=0, variables::Self self=0)
	Constructor. More...

	~JavaPlatform ()
	Destructor. More...

virtual int	analyze (void) override
	Analyzes platform information. More...

virtual double	get_accuracy () const override
	Get the location aproximation value of what is considered close enough. More...

virtual const pose::ReferenceFrame &	get_frame (void) const
	Method for returning the platform's current frame. More...

virtual std::string	get_id () const override
	Gets the unique identifier of the platform. More...

jobject	get_java_instance (void)
	Returns the Java instance that derives from BasePlatform. More...

madara::knowledge::KnowledgeBase *	get_knowledge_base (void) const
	Gets the knowledge base. More...

pose::Position	get_location () const
	Gets Location of platform, within its parent frame. More...

virtual double	get_min_sensor_range () const
	Gets sensor radius. More...

virtual double	get_move_speed () const override
	Get move speed. More...

virtual std::string	get_name () const override
	Gets the name of the platform. More...

pose::Orientation	get_orientation () const
	Gets Orientation of platform, within its parent frame. More...

variables::PlatformStatus *	get_platform_status (void)
	Gets platform status information. More...

const variables::PlatformStatus *	get_platform_status (void) const
	Gets platform status information(const version) More...

pose::Pose	get_pose () const
	Gets Pose of platform, within its parent frame. More...

utility::Position *	get_position ()
	Gets GPS position. More...

variables::Self *	get_self (void) const
	Gets self-referencing variables. More...

virtual const variables::Sensor &	get_sensor (const std::string &name) const
	Gets a sensor. More...

virtual void	get_sensor_names (variables::SensorNames &sensors) const
	Fills a list of sensor names with sensors available on the platform. More...

variables::Sensors *	get_sensors (void) const
	Gets the available sensor information. More...

virtual int	home (void) override
	Instructs the agent to return home. More...

virtual int	land (void) override
	Instructs the platform to land. More...

virtual int	move (const pose::Position &position, const pose::PositionBounds &bounds) override
	Moves the platform to a position. More...

virtual int	move (const pose::Position &target)
	Moves the platform to a location. More...

virtual int	move (const pose::Position &target)
	Moves the platform to a location. More...

virtual int	move (const pose::Position &target, const pose::PositionBounds &bounds)
	Moves the platform to a location. More...

int	move (const pose::Position &target, double epsilon)
	Moves the platform to a location. More...

int	move (const pose::Position &target, double epsilon)
	Moves the platform to a location. More...

void	operator= (const JavaPlatform &rhs)
	Assignment operator. More...

virtual int	orient (const pose::Orientation &axes, const pose::OrientationBounds &bounds) override
	Rotates the platform an angle on a 3D axis. More...

virtual int	orient (const pose::Orientation &target)
	Rotates the platform to match a given angle. More...

virtual int	orient (const pose::Orientation &target)
	Rotates the platform to match a given angle. More...

virtual int	orient (const pose::Orientation &target, const pose::OrientationBounds &bounds)
	Rotates the platform to match a given angle. More...

int	orient (const pose::Orientation &target, double epsilon)
	Rotates the platform to match a given angle. More...

int	orient (const pose::Orientation &target, double epsilon)
	Rotates the platform to match a given angle. More...

virtual void	pause_move (void)
	Pauses movement, keeps source and dest at current values. More...

virtual int	pose (const pose::Pose &target)
	Moves the platform to a pose(location and orientation) More...

virtual int	pose (const pose::Pose &target, const pose::PoseBounds &bounds)
	Moves the platform to a pose(location and orientation) More...

int	pose (const pose::Pose &target, double loc_epsilon, double rot_epsilon=M_PI/16)
	Moves the platform to a pose(location and orientation) More...

virtual void	resume_move (void)
	Resumes movement status flags. More...

virtual void	resume_orientation (void)
	Resumes orientation status flags. More...

virtual int	sense (void) override
	Polls the sensor environment for useful information. More...

void	set_knowledge (madara::knowledge::KnowledgeBase *rhs)
	Sets the knowledge base to use for the platform. More...

virtual void	set_move_speed (const double &speed) override
	Set move speed. More...

virtual void	set_sensors (variables::Sensors *sensors)
	Sets the map of sensor names to sensor information. More...

virtual void	stop_move (void)
	Stops movement, resetting source and dest to current location. More...

virtual void	stop_orientation (void)
	Stops orientation, resetting source and dest angles to current angle. More...

virtual int	takeoff (void) override
	Instructs the platform to take off. More...

Protected Attributes
jclass	class_
	the class of the Java object obj_ More...

madara::knowledge::KnowledgeBase *	knowledge_
	provides access to variables and values More...

double	move_speed_
	movement speed for platform in meters/second More...

jobject	obj_
	the Java object with callable methods More...

variables::Self *	self_
	provides access to self state More...

variables::Sensors *	sensors_
	provides access to a sensor More...

variables::PlatformStatus	status_
	provides access to status information for this platform More...

Detailed Description

A facade for Java platforms.

Definition at line 76 of file JavaPlatform.h.

Constructor & Destructor Documentation

◆ JavaPlatform()

gams::platforms::JavaPlatform::JavaPlatform	(	jobject	obj,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Platforms *	platforms = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

obj	the Java object to call methods on
knowledge	knowledge base
sensors	map of sensor names to sensor information
platforms	map of platform names to platform information
self	agent variables that describe self state

◆ ~JavaPlatform()

gams::platforms::JavaPlatform::~JavaPlatform ( )

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::platforms::JavaPlatform::analyze ( void )

overridevirtual

Analyzes platform information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::platforms::BasePlatform.

◆ get_accuracy()

virtual double gams::platforms::JavaPlatform::get_accuracy ( ) const

overridevirtual

Get the location aproximation value of what is considered close enough.

Returns: location approximation radius

Reimplemented from gams::platforms::BasePlatform.

◆ get_frame()

virtual const pose::ReferenceFrame& gams::platforms::BasePlatform::get_frame ( void ) const

virtualinherited

Method for returning the platform's current frame.

By default, returns pose::default_frame()

Returns: frame that the platform's coordinate system is operating in

◆ get_id()

virtual std::string gams::platforms::JavaPlatform::get_id ( ) const

overridevirtual

Gets the unique identifier of the platform.

This should be an alphanumeric identifier that can be used as part of a MADARA variable (e.g. vrep_ant, autonomous_snake, etc.)

Implements gams::platforms::BasePlatform.

◆ get_java_instance()

jobject gams::platforms::JavaPlatform::get_java_instance ( void )

Returns the Java instance that derives from BasePlatform.

◆ get_knowledge_base()

madara::knowledge::KnowledgeBase* gams::platforms::BasePlatform::get_knowledge_base ( void ) const

inherited

Gets the knowledge base.

Returns: the knowledge base referenced by the algorithm and platform

◆ get_location()

pose::Position gams::platforms::BasePlatform::get_location ( ) const

inherited

Gets Location of platform, within its parent frame.

Returns: Location of platform

◆ get_min_sensor_range()

virtual double gams::platforms::BasePlatform::get_min_sensor_range ( ) const

virtualinherited

Gets sensor radius.

Returns: minimum radius of all available sensors for this platform

◆ get_move_speed()

virtual double gams::platforms::JavaPlatform::get_move_speed ( ) const

overridevirtual

Get move speed.

Reimplemented from gams::platforms::BasePlatform.

◆ get_name()

virtual std::string gams::platforms::JavaPlatform::get_name ( ) const

overridevirtual

Gets the name of the platform.

Implements gams::platforms::BasePlatform.

◆ get_orientation()

pose::Orientation gams::platforms::BasePlatform::get_orientation ( ) const

inherited

Gets Orientation of platform, within its parent frame.

Returns: Location of platform

◆ get_platform_status() [1/2]

variables::PlatformStatus* gams::platforms::BasePlatform::get_platform_status ( void )

inherited

Gets platform status information.

Returns: platform status info

◆ get_platform_status() [2/2]

const variables::PlatformStatus* gams::platforms::BasePlatform::get_platform_status ( void ) const

inherited

Gets platform status information(const version)

Returns: platform status info

◆ get_pose()

pose::Pose gams::platforms::BasePlatform::get_pose ( ) const

inherited

Gets Pose of platform, within its parent frame.

Returns: Location of platform

◆ get_position()

utility::Position* gams::platforms::BasePlatform::get_position ( )

inherited

Gets GPS position.

Returns: GPS location of platform

◆ get_self()

variables::Self* gams::platforms::BasePlatform::get_self ( void ) const

inherited

Gets self-referencing variables.

Returns: self-referencing information like id and agent attributes

◆ get_sensor()

virtual const variables::Sensor& gams::platforms::BasePlatform::get_sensor ( const std::string & name ) const

virtualinherited

Gets a sensor.

Parameters

name	identifier of sensor to get

Returns: Sensor object

◆ get_sensor_names()

virtual void gams::platforms::BasePlatform::get_sensor_names ( variables::SensorNames & sensors ) const

virtualinherited

Fills a list of sensor names with sensors available on the platform.

Parameters

sensors list of sensors to fill

◆ get_sensors()

variables::Sensors* gams::platforms::BasePlatform::get_sensors ( void ) const

inherited

Gets the available sensor information.

Returns: sensor information

◆ home()

virtual int gams::platforms::JavaPlatform::home ( void )

overridevirtual

Instructs the agent to return home.

Returns: 1 if moving, 2 if arrived, 0 if error

Reimplemented from gams::platforms::BasePlatform.

◆ land()

virtual int gams::platforms::JavaPlatform::land ( void )

overridevirtual

Instructs the platform to land.

Returns: 1 if moving, 2 if arrived, 0 if error

Reimplemented from gams::platforms::BasePlatform.

◆ move() [1/6]

virtual int gams::platforms::JavaPlatform::move	(	const pose::Position &	position,
		const pose::PositionBounds &	bounds
	)

overridevirtual

Moves the platform to a position.

Parameters

position	the coordinate to move to
proximity	minimum required distance between current and target before exiting

Returns: 1 if moving, 2 if arrived, 0 if error

Reimplemented from gams::platforms::BasePlatform.

◆ move() [2/6]

virtual int gams::platforms::BasePlatform::move ( const pose::Position & target )

inlinevirtualinherited

Moves the platform to a location.

Parameters

location the coordinates to move to

Returns: the status of the move operation,

See also: PlatformReturnValues

Definition at line 230 of file BasePlatform.h.

◆ move() [3/6]

virtual int gams::platforms::BasePlatform::move

inline

Moves the platform to a location.

Parameters

location the coordinates to move to

Returns: the status of the move operation,

See also: PlatformReturnValues

Definition at line 230 of file BasePlatform.h.

◆ move() [4/6]

virtual int gams::platforms::BasePlatform::move

Moves the platform to a location.

Parameters

location	the coordinates to move to
bounds	object to compute if platform has arrived

Returns: the status of the move operation,

See also: PlatformReturnValues

◆ move() [5/6]

int gams::platforms::BasePlatform::move	(	const pose::Position &	target,
		double	epsilon
	)

inlineinherited

Moves the platform to a location.

Parameters

location	the coordinates to move to
epsilon	approximation value

Returns: the status of the move operation,

See also: PlatformReturnValues

Definition at line 249 of file BasePlatform.h.

◆ move() [6/6]

int gams::platforms::BasePlatform::move

inline

Moves the platform to a location.

Parameters

location	the coordinates to move to
epsilon	approximation value

Returns: the status of the move operation,

See also: PlatformReturnValues

Definition at line 249 of file BasePlatform.h.

◆ operator=()

void gams::platforms::JavaPlatform::operator= ( const JavaPlatform & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ orient() [1/6]

virtual int gams::platforms::JavaPlatform::orient	(	const pose::Orientation &	axes,
		const pose::OrientationBounds &	bounds
	)

overridevirtual

Rotates the platform an angle on a 3D axis.

Parameters

axes	the coordinates to move to

Returns: 1 if currently rotating, 0 if arrived, negative if error

Reimplemented from gams::platforms::BasePlatform.

◆ orient() [2/6]

virtual int gams::platforms::BasePlatform::orient ( const pose::Orientation & target )

inlinevirtualinherited

Rotates the platform to match a given angle.

Parameters

target the orientation to move to

Returns: the status of the orient,

See also: PlatformReturnValues

Definition at line 258 of file BasePlatform.h.

◆ orient() [3/6]

virtual int gams::platforms::BasePlatform::orient

inline

Rotates the platform to match a given angle.

Parameters

target the orientation to move to

Returns: the status of the orient,

See also: PlatformReturnValues

Definition at line 258 of file BasePlatform.h.

◆ orient() [4/6]

virtual int gams::platforms::BasePlatform::orient

Rotates the platform to match a given angle.

Parameters

target	the orientation to move to
bounds	object to compute if platform has arrived

Returns: the status of the orient,

See also: PlatformReturnValues

◆ orient() [5/6]

int gams::platforms::BasePlatform::orient	(	const pose::Orientation &	target,
		double	epsilon
	)

inlineinherited

Rotates the platform to match a given angle.

Parameters

target	the orientation to move to
epsilon	approximation value

Returns: the status of the orient,

See also: PlatformReturnValues

Definition at line 277 of file BasePlatform.h.

◆ orient() [6/6]

int gams::platforms::BasePlatform::orient

inline

Rotates the platform to match a given angle.

Parameters

target	the orientation to move to
epsilon	approximation value

Returns: the status of the orient,

See also: PlatformReturnValues

Definition at line 277 of file BasePlatform.h.

◆ pause_move()

virtual void gams::platforms::BasePlatform::pause_move ( void )

virtualinherited

Pauses movement, keeps source and dest at current values.

◆ pose() [1/3]

virtual int gams::platforms::BasePlatform::pose ( const pose::Pose & target )

inlinevirtualinherited

Moves the platform to a pose(location and orientation)

This default implementation calls move and orient with the Location and Orientation portions of the target Pose. The return value is composed as follows: if either call returns ERROR(0), this call also returns ERROR(0). Otherwise, if BOTH calls return ARRIVED(2), this call also returns ARRIVED(2). Otherwise, this call returns MOVING(1)

Overrides might function differently.

Parameters

target the coordinates to move to

Returns: the status of the operation,

See also: PlatformReturnValues

Definition at line 296 of file BasePlatform.h.

◆ pose() [2/3]

virtual int gams::platforms::BasePlatform::pose	(	const pose::Pose &	target,
		const pose::PoseBounds &	bounds
	)

virtualinherited

Moves the platform to a pose(location and orientation)

This default implementation calls move and orient with the Location and Orientation portions of the target Pose. The return value is composed as follows: if either call returns ERROR(0), this call also returns ERROR(0). Otherwise, if BOTH calls return ARRIVED(2), this call also returns ARRIVED(2). Otherwise, this call returns MOVING(1)

Overrides might function differently.

Parameters

target	the coordinates to move to
bounds	object to compute if platform has arrived

Returns: the status of the operation,

See also: PlatformReturnValues

◆ pose() [3/3]

int gams::platforms::BasePlatform::pose	(	const pose::Pose &	target,
		double	loc_epsilon,
		double	rot_epsilon = `M_PI/16`
	)

inlineinherited

Moves the platform to a pose(location and orientation)

This default implementation calls move and orient with the Location and Orientation portions of the target Pose. The return value is composed as follows: if either call returns ERROR(0), this call also returns ERROR(0). Otherwise, if BOTH calls return ARRIVED(2), this call also returns ARRIVED(2). Otherwise, this call returns MOVING(1)

Overrides might function differently.

Parameters

target	the coordinates to move to
loc_epsilon	approximation value for the location
rot_epsilon	approximation value for the orientation

Returns: the status of the operation,

See also: PlatformReturnValues

Definition at line 335 of file BasePlatform.h.

◆ resume_move()

virtual void gams::platforms::BasePlatform::resume_move ( void )

virtualinherited

Resumes movement status flags.

◆ resume_orientation()

virtual void gams::platforms::BasePlatform::resume_orientation ( void )

virtualinherited

Resumes orientation status flags.

◆ sense()

virtual int gams::platforms::JavaPlatform::sense ( void )

overridevirtual

Polls the sensor environment for useful information.

Returns: number of sensors updated/used

Implements gams::platforms::BasePlatform.

◆ set_knowledge()

void gams::platforms::BasePlatform::set_knowledge ( madara::knowledge::KnowledgeBase * rhs )

inherited

Sets the knowledge base to use for the platform.

Parameters

rhs	the new knowledge base to use

◆ set_move_speed()

virtual void gams::platforms::JavaPlatform::set_move_speed ( const double & speed )

overridevirtual

Set move speed.

Parameters

speed new speed in meters/loop execution

Reimplemented from gams::platforms::BasePlatform.

◆ set_sensors()

virtual void gams::platforms::BasePlatform::set_sensors ( variables::Sensors * sensors )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

sensors map of sensor names to sensor information

◆ stop_move()

virtual void gams::platforms::BasePlatform::stop_move ( void )

virtualinherited

Stops movement, resetting source and dest to current location.

◆ stop_orientation()

virtual void gams::platforms::BasePlatform::stop_orientation ( void )

virtualinherited

Stops orientation, resetting source and dest angles to current angle.

◆ takeoff()

virtual int gams::platforms::JavaPlatform::takeoff ( void )

overridevirtual

Instructs the platform to take off.

Returns: 1 if moving, 2 if arrived, 0 if error

Reimplemented from gams::platforms::BasePlatform.

Member Data Documentation

◆ class_

jclass gams::platforms::JavaPlatform::class_

protected

the class of the Java object obj_

Definition at line 199 of file JavaPlatform.h.

◆ knowledge_

madara::knowledge::KnowledgeBase* gams::platforms::BasePlatform::knowledge_

protectedinherited

provides access to variables and values

Definition at line 439 of file BasePlatform.h.

◆ move_speed_

double gams::platforms::BasePlatform::move_speed_

protectedinherited

movement speed for platform in meters/second

Definition at line 436 of file BasePlatform.h.

◆ obj_

jobject gams::platforms::JavaPlatform::obj_

protected

the Java object with callable methods

Definition at line 196 of file JavaPlatform.h.

◆ self_

variables::Self* gams::platforms::BasePlatform::self_

protectedinherited

provides access to self state

Definition at line 442 of file BasePlatform.h.

◆ sensors_

variables::Sensors* gams::platforms::BasePlatform::sensors_

protectedinherited

provides access to a sensor

Definition at line 445 of file BasePlatform.h.

◆ status_

variables::PlatformStatus gams::platforms::BasePlatform::status_

protectedinherited

provides access to status information for this platform

Definition at line 448 of file BasePlatform.h.

The documentation for this class was generated from the following file:

src/gams/platforms/java/JavaPlatform.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JavaPlatform()

◆ ~JavaPlatform()

Member Function Documentation

◆ analyze()

◆ get_accuracy()

◆ get_frame()

◆ get_id()

◆ get_java_instance()

◆ get_knowledge_base()

◆ get_location()

◆ get_min_sensor_range()

◆ get_move_speed()

◆ get_name()

◆ get_orientation()

◆ get_platform_status() [1/2]

◆ get_platform_status() [2/2]

◆ get_pose()

◆ get_position()

◆ get_self()

◆ get_sensor()

◆ get_sensor_names()

◆ get_sensors()

◆ home()

◆ land()

◆ move() [1/6]

◆ move() [2/6]

◆ move() [3/6]

◆ move() [4/6]

◆ move() [5/6]

◆ move() [6/6]

◆ operator=()

◆ orient() [1/6]

◆ orient() [2/6]

◆ orient() [3/6]

◆ orient() [4/6]

◆ orient() [5/6]

◆ orient() [6/6]

◆ pause_move()

◆ pose() [1/3]

◆ pose() [2/3]

◆ pose() [3/3]

◆ resume_move()

◆ resume_orientation()

◆ sense()

◆ set_knowledge()

◆ set_move_speed()

◆ set_sensors()

◆ stop_move()

◆ stop_orientation()

◆ takeoff()

Member Data Documentation

◆ class_

◆ knowledge_

◆ move_speed_

◆ obj_

◆ self_

◆ sensors_

◆ status_