NavigationModel (leJOS EV3 API documentation)

java.lang.Object
- lejos.robotics.mapping.NavigationModel

Direct Known Subclasses:

EV3NavigationModel
```
public abstract class NavigationModel
extends java.lang.Object
```
NavigationModel is an abstract class that has two implementations: NXTNavigationModel and PCNavigationModel. It is used to hold all navigation data and transmit updates to the date and other events between a NXT brick and the PC. The abstract NAvigationModel class defines all the events and all data and methods that are common to the NXT and PC implementations. The purpose of NavigationModel and the NXT and PC implementations is to to allow navigation tasks to be split between the NXT and the PC, to allow the PC to show a graphical display of the navigational data and allow the user to interact with it. This allows many different navigation applications to be developed which split processing between the PC and the NXT.

Author:

Lawrie Griffiths

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class NavigationModel.NavEvent
Navigation events that are transmitted between the PC and the NXT (and vice versa).

Nested Classes
Modifier and Type	Class and Description
`static class`	`NavigationModel.NavEvent` Navigation events that are transmitted between the PC and the NXT (and vice versa).

Field Summary

Fields
Modifier and Type	Field and Description
`protected Pose`	`currentPose`
`protected boolean`	`debug`
`protected java.io.DataInputStream`	`dis`
`protected java.io.DataOutputStream`	`dos`
`protected RangeFeature`	`feature`
`protected Move`	`lastMove`
`protected Move`	`lastPlannedMove`
`protected LineMap`	`map`
`protected MCLPoseProvider`	`mcl`
`protected int`	`numReadings`
`protected java.lang.String`	`nxtName`
`protected MCLParticleSet`	`particles`
`protected Path`	`path`
`protected RangeReadings`	`readings`
`protected Waypoint`	`target`

Constructor Summary

Constructors
Constructor and Description

NavigationModel()

Constructors
Constructor and Description
`NavigationModel()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`LineMap`	`getMap()` Get the registered map
`MCLParticleSet`	`getParticles()` Get the registered particle set
`Path`	`getPath()` Get the registered path
`RangeReadings`	`getReadings()` Get the current range readings
`Pose`	`getRobotPose()` Get the current pose of the robot
`Waypoint`	`getTarget()` Get the target waypoint
`boolean`	`hasMap()` Test is the model has a map registered
`void`	`setDebug(boolean on)` Set debug output on of off
`void`	`setNumReadings(int number)` Set the number of readings for MCL
`void`	`setParticleSet(MCLParticleSet particles)` Set the MCL Particle set
`void`	`setRobotPose(Pose p)` Set the current robot pose
`void`	`setTarget(Waypoint target)` Set the target waypoint that the robot is to go to

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - map
```
protected LineMap map
```
  - nxtName
```
protected java.lang.String nxtName
```
  - dis
```
protected java.io.DataInputStream dis
```
  - dos
```
protected java.io.DataOutputStream dos
```
  - numReadings
```
protected int numReadings
```
  - currentPose
```
protected Pose currentPose
```
  - target
```
protected Waypoint target
```
  - particles
```
protected MCLParticleSet particles
```
  - mcl
```
protected MCLPoseProvider mcl
```
  - readings
```
protected RangeReadings readings
```
  - path
```
protected Path path
```
  - lastMove
```
protected Move lastMove
```
  - lastPlannedMove
```
protected Move lastPlannedMove
```
  - feature
```
protected RangeFeature feature
```
  - debug
```
protected boolean debug
```
- Constructor Detail
  - NavigationModel
```
public NavigationModel()
```
- Method Detail
  - hasMap
```
public boolean hasMap()
```
    Test is the model has a map registered
    
    Returns:
    
    true iff a map is registered
  - getMap
```
public LineMap getMap()
```
    Get the registered map
    
    Returns:
    
    the LineMap
  - setNumReadings
```
public void setNumReadings(int number)
```
    Set the number of readings for MCL
    
    Parameters:
    
    number - the number of readings
  - getRobotPose
```
public Pose getRobotPose()
```
    Get the current pose of the robot
    
    Returns:
    
    the robot pose
  - getParticles
```
public MCLParticleSet getParticles()
```
    Get the registered particle set
    
    Returns:
    
    the MCLParticleSet or null
  - setRobotPose
```
public void setRobotPose(Pose p)
```
    Set the current robot pose
    
    Parameters:
    
    p - the pose
  - setParticleSet
```
public void setParticleSet(MCLParticleSet particles)
```
    Set the MCL Particle set
    
    Parameters:
    
    particles - an MCLParticleSet
  - getReadings
```
public RangeReadings getReadings()
```
    Get the current range readings
    
    Returns:
    
    the RangeReadings object
  - setTarget
```
public void setTarget(Waypoint target)
```
    Set the target waypoint that the robot is to go to
    
    Parameters:
    
    target - the target waypoint
  - getTarget
```
public Waypoint getTarget()
```
    Get the target waypoint
    
    Returns:
    
    the target waypoint
  - getPath
```
public Path getPath()
```
    Get the registered path
    
    Returns:
    
    the Path object
  - setDebug
```
public void setDebug(boolean on)
```
    Set debug output on of off
    
    Parameters:
    
    on - true for on, false for off

Class NavigationModel

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

map

nxtName

dis

dos

numReadings

currentPose

target

particles

mcl

readings

path

lastMove

lastPlannedMove

feature

debug

Constructor Detail

NavigationModel

Method Detail

hasMap

getMap

setNumReadings

getRobotPose

getParticles

setRobotPose

setParticleSet

getReadings

setTarget

getTarget

getPath

setDebug