edu::wpi::hri::gen::comm::SituationKnowledge Class Reference

List of all members.

Classes
class	InvalidIDException
Public Member Functions
synchronized void	call (EntityPosition pos)
synchronized Point	convertToRobotSpace (Point from)
synchronized Point	get (String id)
synchronized Set< String >	getAllObjects ()
synchronized Point	getRobot ()
synchronized Point	getRobotHead ()
synchronized Point	getRobotLeftHand ()
synchronized Point	getRobotLeftShoulder ()
Point	getRobotRightHand ()
synchronized Point	getRobotRightShoulder ()
synchronized boolean	isObjectOnRight (String object)
synchronized void	shutdown ()
	SituationKnowledge (Logger logger, NodeHandle handle) throws RosException
Private Attributes
final Hashtable< String, Point >	locations
final Logger	logger
final Hashtable< String, Point >	objects
final Subscriber< EntityPosition >	posSub

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Detailed Description

The Situation Knowledge object is responsible for maintaining the world information as other nodes inform it. This object also has minimal math build in which can find the shoulders from the location of the robot and the rotation of the robot around the z axis.

Author:

Aaron Holroyd (aholroyd (at) wpi (dot) edu)

Definition at line 58 of file SituationKnowledge.java.

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Constructor & Destructor Documentation

edu::wpi::hri::gen::comm::SituationKnowledge::SituationKnowledge	(	Logger	logger,
		NodeHandle	handle
	)			throws RosException [inline]

Create a new situation knowledge which will listen for positions.

Parameters:

	logger	The logger to log to.
	handle	The handle to use to subscribe to the entity position messages

Exceptions:

RosException

When the entity position message can not be subscribed to

Definition at line 75 of file SituationKnowledge.java.

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Member Function Documentation

synchronized void edu::wpi::hri::gen::comm::SituationKnowledge::call

(

EntityPosition

pos

)

[inline]

Definition at line 93 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::convertToRobotSpace

(

Point

from

)

[inline]

Convert the given point into robot coordinates

Parameters:

from

The point to convert

Returns:

The point in robot relative terms

Definition at line 216 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::get

(

String

id

)

[inline]

Get the location of the given object id.

Parameters:

id

The id of the object to retrieve.

Returns:

The point of the object given by id.

Definition at line 123 of file SituationKnowledge.java.

synchronized Set<String> edu::wpi::hri::gen::comm::SituationKnowledge::getAllObjects

(

)

[inline]

Get all of the objects which exist in the current situation.

Returns:

All of the objects that are known

Definition at line 112 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::getRobot

(

)

[inline]

Get the location of the robot itself.

Returns:

The location of the robot itself.

Definition at line 139 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::getRobotHead

(

)

[inline]

Get the location of the center of the head. This should be used for gaze calculations.

Returns:

The center of the robot head.

Definition at line 150 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::getRobotLeftHand

(

)

[inline]

Get the location of the left hand of the robot.

Returns:

The location of the left hand of the robot.

Definition at line 162 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::getRobotLeftShoulder

(

)

[inline]

Get the location of the left shoulder of the robot.

Returns:

The location of the left shoulder of the robot.

Definition at line 180 of file SituationKnowledge.java.

Point edu::wpi::hri::gen::comm::SituationKnowledge::getRobotRightHand

(

)

[inline]

Get the location of the right hand of the robot.

Returns:

The location of the right hand of the robot.

Definition at line 171 of file SituationKnowledge.java.

synchronized Point edu::wpi::hri::gen::comm::SituationKnowledge::getRobotRightShoulder

(

)

[inline]

Get the location of the right shoulder of the robot.

Returns:

The location of the right shoulder of the robot.

Definition at line 197 of file SituationKnowledge.java.

synchronized boolean edu::wpi::hri::gen::comm::SituationKnowledge::isObjectOnRight

(

String

object

)

[inline]

Find if the given object id refers to an object which is on the right side of the robot.

Parameters:

object

The object id to check.

Returns:

True if the object is on the right, false otherwise.

Definition at line 254 of file SituationKnowledge.java.

synchronized void edu::wpi::hri::gen::comm::SituationKnowledge::shutdown

(

)

[inline]

Shutdown this knowledge by ending the subscriber.

Definition at line 88 of file SituationKnowledge.java.

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Member Data Documentation

final Hashtable<String, Point> edu::wpi::hri::gen::comm::SituationKnowledge::locations [private]

Definition at line 61 of file SituationKnowledge.java.

final Logger edu::wpi::hri::gen::comm::SituationKnowledge::logger [private]

Definition at line 60 of file SituationKnowledge.java.

final Hashtable<String, Point> edu::wpi::hri::gen::comm::SituationKnowledge::objects [private]

Definition at line 63 of file SituationKnowledge.java.

final Subscriber<EntityPosition> edu::wpi::hri::gen::comm::SituationKnowledge::posSub [private]

Definition at line 62 of file SituationKnowledge.java.

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

• engagement_generation/src/edu/wpi/hri/gen/comm/SituationKnowledge.java