swarm.robot.helpers

Class Coordinate

java.lang.Object

swarm.robot.helpers.Coordinate

All Implemented Interfaces:

IMqttHandler

public class Coordinate
extends java.lang.Object
implements IMqttHandler

The class that handling position and heading information of the Virtual Robots

Author:

Nuwan Jaliyagoda

Field Summary

Fields

Modifier and Type	Field and Description
protected RobotMqttClient	robotMqttClient

Constructor Summary

Constructors

Constructor and Description
Coordinate(int robotId, double x, double y, double heading, RobotMqttClient mqttClient) Coordinate class

Method Summary

Modifier and Type	Method and Description
double	getHeading() Get robot's current heading direction
double	getHeadingRad() Get robot's current heading direction
double	getX() Get robot's current X coordinate
double	getY() Get robot's current Y coordinate
void	handleSubscription(Robot robot, MqttMsg message) Handle localization related MQTT subscriptions
void	print() Print robot's current (x,y,heading) values to StdOut
void	publishCoordinate() Publish current (x,y,heading) values to the MQTT channel
void	setCoordinate(double x, double y) Set robot's current (x,y) coordinate
void	setCoordinate(double x, double y, double heading) Set robot's current (x,y) coordinate and heading direction
void	setHeading(double heading) Set robot's current heading direction
void	setHeadingRad(double heading) Set robot's current heading direction
void	setX(double x) Set robot's current X coordinate
void	setY(double y) Set robot's current Y coordinate
java.lang.String	toString() Returns robot's current (x,y,heading) values as a string

Methods inherited from class java.lang.Object

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

Field Detail

robotMqttClient

protected RobotMqttClient robotMqttClient

Constructor Detail

Coordinate

public Coordinate(int robotId,
                  double x,
                  double y,
                  double heading,
                  RobotMqttClient mqttClient)

Coordinate class

Parameters:

robotId -

x - X coordinate as double

y - Y coordinate as double

heading - Heading direction in degrees, as double

mqttClient - mqttClient object

Method Detail

handleSubscription

public void handleSubscription(Robot robot,
                               MqttMsg message)

Handle localization related MQTT subscriptions

Specified by:

handleSubscription in interface IMqttHandler

Parameters:

robot - Robot object

message - Subscription topic value

getX

public double getX()

Get robot's current X coordinate

Returns:

X coordinate as a double

getY

public double getY()

Get robot's current Y coordinate

Returns:

Y coordinate as a double

setX

public void setX(double x)

Set robot's current X coordinate

Parameters:

x - coordinate as a double

setY

public void setY(double y)

Set robot's current Y coordinate

Parameters:

y - coordinate as a double

getHeading

public double getHeading()

Get robot's current heading direction

Returns:

heading in degrees

getHeadingRad

public double getHeadingRad()

Get robot's current heading direction

Returns:

heading in radians

See Also:

getHeading()

setHeading

public void setHeading(double heading)

Set robot's current heading direction

Parameters:

heading - in degrees, [-180, 180]

setHeadingRad

public void setHeadingRad(double heading)

Set robot's current heading direction

Parameters:

heading - in radians, [-PI, PI]

setCoordinate

public void setCoordinate(double x,
                          double y)

Set robot's current (x,y) coordinate

Parameters:

x - X coordinate as a double

y - Y coordinate as a double

setCoordinate

public void setCoordinate(double x,
                          double y,
                          double heading)

Set robot's current (x,y) coordinate and heading direction

Parameters:

x - X coordinate as a double

y - Y coordinate as a double

heading - Heading in radians, [-PI, PI]

print

public void print()

Print robot's current (x,y,heading) values to StdOut

toString

public java.lang.String toString()

Returns robot's current (x,y,heading) values as a string

Overrides:

toString in class java.lang.Object

Returns:

String

publishCoordinate

public void publishCoordinate()

Publish current (x,y,heading) values to the MQTT channel