aima.core.robotics.impl.map

Class MclCartesianPlot2D<P extends IPose2D<P,M>,M extends IMclMove<M>,R extends AbstractRangeReading>

java.lang.Object

aima.core.robotics.impl.map.MclCartesianPlot2D<P,M,R>

Type Parameters:

P - a pose implementing IPose2D.

M - a movement (or sequence of movements) of the robot, implementing IMclMove.

R - a range reading extending AbstractRangeReading.

All Implemented Interfaces:

IMclMap<P,Angle,M,AbstractRangeReading>

public final class MclCartesianPlot2D<P extends IPose2D<P,M>,M extends IMclMove<M>,R extends AbstractRangeReading>
extends java.lang.Object
implements IMclMap<P,Angle,M,AbstractRangeReading>

This class implements the interface IMclMap using the classes Angle and AbstractRangeReading.
It uses a parser that generates two sets of IGeometric2D.
The first set describes obstacles that can be measured by the range sensor. Thus only this group is considered for the rayCast function.
The second group specifies areas on the map. If a position is in one of these areas it is a valid position.
This functionality is implemented by isPoseValid which in addition tests whether the heading of that pose is valid and the position is inside an obstacle which makes it an invalid position.

Author:

Arno von Borries, Jan Phillip Kretzschmar, Andreas Walscheid

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	AREA_ID This is the identifier that is used to find a group of areas in the map file.
static java.lang.String	OBSTACLE_ID This is the identifier that is used to find a group of obstacles in the map file.

Constructor Summary

Constructors

Constructor and Description
MclCartesianPlot2D(IGroupParser obstaclesParser, IGroupParser areasParser, IPoseFactory<P,M> poseFactory, IRangeReadingFactory<R> rangeReadingFactory)

Method Summary

Modifier and Type	Method and Description
P	checkDistanceOfPoses(java.util.Set<P> samples, double maxDistance) Calculate the maximum distance between all samples and compare it to maxDistance.
java.util.Iterator<Rect2D>	getAreaBoundaries() Returns an iterator over the boundaries of the area polygons.
java.util.Iterator<IGeometric2D>	getAreas() Returns an iterator over the area polygons.
java.util.Iterator<Rect2D>	getObstacleBoundaries() Returns an iterator over the boundaries of the obstacle polygons.
java.util.Iterator<IGeometric2D>	getObstacles() Returns an iterator over the obstacle polygons.
boolean	isLoaded() Checks whether a map was loaded.
boolean	isPoseValid(P pose) Verifies whether a pose is valid, that is inside the map boundaries and not within an obstacle.
void	loadMap(java.io.InputStream obstacleInput, java.io.InputStream areaInput) This function loads a map input stream into this Cartesian plot.
P	randomPose() Generates a random valid pose on the map.
R	rayCast(P pose) Calculates the length of a ray in a direction defined by a pose.
void	setSensorRange(double sensorRange) Sets the sensor range.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

OBSTACLE_ID

public static final java.lang.String OBSTACLE_ID

This is the identifier that is used to find a group of obstacles in the map file.

See Also:

Constant Field Values

AREA_ID

public static final java.lang.String AREA_ID

This is the identifier that is used to find a group of areas in the map file.

See Also:

Constant Field Values

Constructor Detail

MclCartesianPlot2D

public MclCartesianPlot2D(IGroupParser obstaclesParser,
                          IGroupParser areasParser,
                          IPoseFactory<P,M> poseFactory,
                          IRangeReadingFactory<R> rangeReadingFactory)

Parameters:

obstaclesParser - a map parser implementing IGroupParser. This parser is used to load a map file for the obstacles.

areasParser - a map parser implementing IGroupParser. This parser is used to load a map file for the areas. It should be a different object than obstaclesParser or implemented thread-safe.

poseFactory - a pose factory implementing IPoseFactory.

rangeReadingFactory - a range reading factory implementing IRangeReadingFactory.

Method Detail

setSensorRange

public void setSensorRange(double sensorRange)

Sets the sensor range.

Parameters:

sensorRange - the maximum range that the sensor can reliably measure. This parameter is used to speed up rayCast.

checkDistanceOfPoses

public P checkDistanceOfPoses(java.util.Set<P> samples,
                              double maxDistance)

Calculate the maximum distance between all samples and compare it to maxDistance. If it is smaller or equals to maxDistance the mean is returned. null otherwise.

Parameters:

samples - the set of samples to be checked against.

maxDistance - the maxDistance that the cloud should have to return a mean.

Returns:

the mean of the samples or null.

loadMap

public void loadMap(java.io.InputStream obstacleInput,
                    java.io.InputStream areaInput)
             throws java.lang.Exception

This function loads a map input stream into this Cartesian plot. The two streams have to be two different instances to be thread safe.

Parameters:

obstacleInput - the stream containing the obstacles.

areaInput - the stream containing the areas

Throws:

java.lang.Exception - thrown by the implementing class of IGroupParser when calling loadMap.

getObstacles

public java.util.Iterator<IGeometric2D> getObstacles()

Returns an iterator over the obstacle polygons.

Returns:

an iterator over the obstacle polygons.

getObstacleBoundaries

public java.util.Iterator<Rect2D> getObstacleBoundaries()

Returns an iterator over the boundaries of the obstacle polygons.

Returns:

an iterator over the boundaries of the obstacle polygons.

getAreas

public java.util.Iterator<IGeometric2D> getAreas()

Returns an iterator over the area polygons.

Returns:

an iterator over the area polygons.

getAreaBoundaries

public java.util.Iterator<Rect2D> getAreaBoundaries()

Returns an iterator over the boundaries of the area polygons.

Returns:

an iterator over the boundaries of the area polygons.

isLoaded

public boolean isLoaded()

Checks whether a map was loaded.

Returns:

true if a map was loaded.

randomPose

public P randomPose()

Description copied from interface: IMclMap

Generates a random valid pose on the map.

Specified by:

randomPose in interface IMclMap<P extends IPose2D<P,M>,Angle,M extends IMclMove<M>,AbstractRangeReading>

Returns:

a random valid pose on the map.

rayCast

public R rayCast(P pose)

Description copied from interface: IMclMap

Calculates the length of a ray in a direction defined by a pose.

Specified by:

rayCast in interface IMclMap<P extends IPose2D<P,M>,Angle,M extends IMclMove<M>,AbstractRangeReading>

Parameters:

pose - the pose from which the ray is to be cast.

Returns:

the length of the ray as a range reading.

isPoseValid

public boolean isPoseValid(P pose)

Description copied from interface: IMclMap

Verifies whether a pose is valid, that is inside the map boundaries and not within an obstacle.

Specified by:

isPoseValid in interface IMclMap<P extends IPose2D<P,M>,Angle,M extends IMclMove<M>,AbstractRangeReading>

Parameters:

pose - the pose which is to be evaluated.

Returns:

true if the pose is valid.