GlobalNavigation
Class GlobalNavigation

java.lang.Object
  GlobalNavigation.GlobalNavigation

public class GlobalNavigation
extends java.lang.Object

Driver for the GlobalNavigation lab.

Field Summary

static java.lang.String	APPNAME Name to use when run as an application.
	bumpSub
protected CSpace	cspace The configuration space.
protected java.awt.geom.Point2D.Double	currentWaypoint The current waypoint.
protected int	currentWaypointIndex
static java.awt.Color	FAR_COLOR Color of the farthest cell(s).
static double	FOLLOW_PATH_MAX_RV Max rotational velocity while following path (rad/s).
static double	FOLLOW_PATH_RV_GAIN Proportional gain for rotation controller while following path.
static double	FOLLOW_PATH_TV Translational velocity while following path (m/s).
static int	GO State constant, following path.
static java.awt.Color	GOAL_COLOR Color of the goal cell.
protected java.awt.geom.Point2D.Double	goalPoint Goal point.
protected Grid	grid
static double	GRID_RESOLUTION
protected PolygonMap	map The map, read from file in #main.
protected double	maxDist Maximum distance from any cell that can reach the goal to the goal (m).
	odoSub
static java.awt.Color	PATH_COLOR Color of the path.
protected int	redrawCounter
static int	ROBOT_BUMPER_LEFT Left bumper (orc port 9) index.
static int	ROBOT_BUMPER_RIGHT Right bumper (orc port 8) index.
protected static double	robotRadius (Solution)
static double	ROTATE_FIRST_THRESHOLD Rotate before translation threshold (radians)
protected java.awt.geom.Point2D.Double	startPoint Start point.
protected int	state The current robot state.
static int	STOP State constant, robot stopped.
protected VisibilityGraph	visibilityGraph The graph
protected java.util.List<java.awt.geom.Point2D.Double>	waypoints
protected java.awt.geom.Rectangle2D.Double	worldRect World bounds.
static double	WP_THRESHOLD Waypoint reached threshold (m).

Constructor Summary

GlobalNavigation()

Method Summary

void	displayCSpace() Display cspace to the GUI.
void	displayGrid() Display grid to the GUI.
void	displayMap() Display map to console and to the GUI.
void	displayPath() Display a set of line segments from currentWaypoint to the goal.
void	displayVisibilityGraph()
static void	fillColor(ColorMsg color2, java.awt.Color color)
void	fillPointMsg(GUIPointMsg msg, java.awt.geom.Point2D.Double point, java.awt.Color color, long shape)
static void	fillPolyMsg(GUIPolyMsg msg, PolygonObstacle obstacle, java.awt.Color c, boolean filled, boolean closed)
static void	fillRectMsg(GUIRectMsg msg, java.awt.geom.Rectangle2D.Double r, java.awt.Color c, boolean filled)
void	fillSegmentMsg(GUISegmentMsg segmentMsg, java.awt.Color color, java.awt.geom.Point2D.Double start, java.awt.geom.Point2D.Double other)
GraphName	getDefaultNodeName()
void	handle(BumpMsg msg) Implements stop on bump.
void	handle(OdometryMsg msg) Implements path following.
void	instanceMain(java.lang.String[] arg) Displays map, computes cspace and grid, displays grid and path, and initiates path following.
protected static java.awt.Color	interpolateColor(double maxDist, double dist) Generate an interpolated color between FAR_COLOR and GOAL_COLOR.
void	onShutdown(Node arg0)
void	onShutdownComplete(Node node)
void	onStart(Node node) Driver, calls instanceMain(java.lang.String[]).
void	setMotionMsg(MotionMsg msg, double d, double rv)
void	testConvexHull() Exercise the convex hull and polygon display code.

Methods inherited from class java.lang.Object

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

Field Detail

APPNAME

public static final java.lang.String APPNAME

Name to use when run as an application.

See Also:

Constant Field Values

STOP

public static final int STOP

State constant, robot stopped.

See Also:

Constant Field Values

GO

public static final int GO

State constant, following path.

See Also:

Constant Field Values

ROBOT_BUMPER_RIGHT

public static int ROBOT_BUMPER_RIGHT

Right bumper (orc port 8) index.

ROBOT_BUMPER_LEFT

public static int ROBOT_BUMPER_LEFT

Left bumper (orc port 9) index.

FOLLOW_PATH_TV

public static final double FOLLOW_PATH_TV

Translational velocity while following path (m/s).

See Also:

Constant Field Values

FOLLOW_PATH_RV_GAIN

public static final double FOLLOW_PATH_RV_GAIN

Proportional gain for rotation controller while following path.

See Also:

Constant Field Values

FOLLOW_PATH_MAX_RV

public static final double FOLLOW_PATH_MAX_RV

Max rotational velocity while following path (rad/s).

See Also:

Constant Field Values

ROTATE_FIRST_THRESHOLD

public static final double ROTATE_FIRST_THRESHOLD

Rotate before translation threshold (radians)

See Also:

Constant Field Values

WP_THRESHOLD

public static final double WP_THRESHOLD

Waypoint reached threshold (m).

See Also:

Constant Field Values

map

protected PolygonMap map

The map, read from file in #main.

worldRect

protected java.awt.geom.Rectangle2D.Double worldRect

World bounds.

startPoint

protected java.awt.geom.Point2D.Double startPoint

Start point.

goalPoint

protected java.awt.geom.Point2D.Double goalPoint

Goal point.

visibilityGraph

protected VisibilityGraph visibilityGraph

The graph

cspace

protected CSpace cspace

The configuration space.

grid

protected Grid grid

GRID_RESOLUTION

public static final double GRID_RESOLUTION

See Also:

Constant Field Values

FAR_COLOR

public static final java.awt.Color FAR_COLOR

Color of the farthest cell(s).

GOAL_COLOR

public static final java.awt.Color GOAL_COLOR

Color of the goal cell.

PATH_COLOR

public static final java.awt.Color PATH_COLOR

Color of the path.

currentWaypoint

protected java.awt.geom.Point2D.Double currentWaypoint

The current waypoint.

currentWaypointIndex

protected int currentWaypointIndex

waypoints

protected java.util.List<java.awt.geom.Point2D.Double> waypoints

maxDist

protected double maxDist

Maximum distance from any cell that can reach the goal to the goal (m).

.

state

protected int state

The current robot state.

redrawCounter

protected int redrawCounter

robotRadius

protected static double robotRadius

(Solution)

bumpSub

public  bumpSub

odoSub

public  odoSub

Constructor Detail

GlobalNavigation

public GlobalNavigation()

Method Detail

displayMap

public void displayMap()

Display map to console and to the GUI.

fillPointMsg

public void fillPointMsg(GUIPointMsg msg,
                         java.awt.geom.Point2D.Double point,
                         java.awt.Color color,
                         long shape)

fillPolyMsg

public static void fillPolyMsg(GUIPolyMsg msg,
                               PolygonObstacle obstacle,
                               java.awt.Color c,
                               boolean filled,
                               boolean closed)

fillRectMsg

public static void fillRectMsg(GUIRectMsg msg,
                               java.awt.geom.Rectangle2D.Double r,
                               java.awt.Color c,
                               boolean filled)

displayGrid

public void displayGrid()

Display grid to the GUI.

Obstacle cells are not displayed; all others are colored according to their distance from the goal (see FAR_COLOR and GOAL_COLOR).

displayCSpace

public void displayCSpace()

Display cspace to the GUI.

displayVisibilityGraph

public void displayVisibilityGraph()

fillSegmentMsg

public void fillSegmentMsg(GUISegmentMsg segmentMsg,
                           java.awt.Color color,
                           java.awt.geom.Point2D.Double start,
                           java.awt.geom.Point2D.Double other)

fillColor

public static void fillColor(ColorMsg color2,
                             java.awt.Color color)

interpolateColor

protected static java.awt.Color interpolateColor(double maxDist,
                                                 double dist)

Generate an interpolated color between FAR_COLOR and GOAL_COLOR.

Parameters:

maxDist - the distance of the farthest cell(s) from the goal (m)

dist - the distance of the specified cell from the goal (m)

displayPath

public void displayPath()

Display a set of line segments from currentWaypoint to the goal.

testConvexHull

public void testConvexHull()

Exercise the convex hull and polygon display code.

handle

public void handle(OdometryMsg msg)

Implements path following.

setMotionMsg

public void setMotionMsg(MotionMsg msg,
                         double d,
                         double rv)

handle

public void handle(BumpMsg msg)

Implements stop on bump.

onStart

public void onStart(Node node)

Driver, calls instanceMain(java.lang.String[]).

instanceMain

public void instanceMain(java.lang.String[] arg)

Displays map, computes cspace and grid, displays grid and path, and initiates path following.

onShutdown

public void onShutdown(Node arg0)

onShutdownComplete

public void onShutdownComplete(Node node)

getDefaultNodeName

public GraphName getDefaultNodeName()