simbad.sim
Class KheperaRobot

java.lang.Object
  simbad.sim.BaseObject
      simbad.sim.SimpleAgent
          simbad.sim.Agent
              simbad.sim.KheperaRobot

Direct Known Subclasses:

KheperaDemo.Robot

public class KheperaRobot

extends Agent

A KheperaRobot Agents. This class provides a prebuild khepera robot with the following functionalities:

8 IR sensors

Two wheels control

Note the numbering and angle in degrees of the IR sensors: 0 ->+85 1 -> +45 2 -> +10 3 -> -10 4 -> -45 5 ->-85 6 et 7 ->180

Constructor Summary

KheperaRobot(javax.vecmath.Vector3d pos, java.lang.String name)
Constructs a new KheperaRobot .

Method Summary

RangeSensorBelt	getIRSensors() Returns the set of IR sensor.
void	setWheelsVelocity(double left, double right) Sets the wheels velocity.

Methods inherited from class simbad.sim.Agent

asString, getAgentInspector, getOdometer, getRotationalVelocity, getTranslationalVelocity, getUIPanel, setAgentInspector, setRotationalVelocity, setTranslationalVelocity, setUIPanel

Methods inherited from class simbad.sim.SimpleAgent

anOtherAgentIsVeryNear, attach, collisionDetected, detach, getActuatorDevice, getActuatorList, getCanBeTraversed, getCoords, getCounter, getHeight, getLifeTime, getMass, getName, getRadius, getRotationTransform, getSensorDevice, getSensorList, getTranslationTransform, getVeryNearAgent, interactionDetected, moveToStartPosition, rotateY, setCanBeTraversed, setColor, translateTo

Methods inherited from class java.lang.Object

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

Constructor Detail

KheperaRobot

public KheperaRobot(javax.vecmath.Vector3d pos,
                    java.lang.String name)

Constructs a new KheperaRobot .

Parameters:

pos - start position.

name -

Method Detail

getIRSensors

public RangeSensorBelt getIRSensors()

Returns the set of IR sensor.

Returns:

a RangeSensorBelt.

setWheelsVelocity

public void setWheelsVelocity(double left,
                              double right)

Sets the wheels velocity.

Parameters:

left - wheel velocity in m/s.

right - wheel velocity in m/s.