rp1.rossum
Class RsBody

java.lang.Object
  rp1.rossum.RsComponent
      rp1.rossum.RsBody

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class RsBody
extends RsComponent

The container class for defining a simulated robot.

See Also:

Serialized Form

Field Summary

boolean	collision
RsMotion	motion
java.lang.String	name
boolean	placement
RsRectangle	refBounds
RsSegment[]	refEnclosure
RsWheelSystem	wheelSystem

Constructor Summary

RsBody(java.lang.String nameReference)

Method Summary

void	addPart(RsBodyPart part)
void	applyMotion()
boolean	checkForOverlap(RsPlan plan, RsTransform transform)
void	computeMotion(double startTime, RsMotionRequest request)
void	copyStateData(RsBody dataSource)
RsBodyPainter[]	getBodyPainterArray()
RsBodyPart[]	getBodyPartArray()
RsRectangle	getBounds()
boolean	getCollision()
int	getID()
RsBodyShape[]	getInteractiveBodyShapeArray()
RsMotion	getMotion()
java.lang.String	getName()
RsBodyPart	getPartByID(int _ID)
RsBodyPart	getPartByName(java.lang.String _name)
boolean	getPlacement()
RsPositionEvent	getPositionEvent(double simTime)
RsSegment[]	getRefEnclosure()
void	paint(java.awt.Graphics g, RsTransform paintTransform)
boolean	processSensors(double simTime, RsPlan plan, RsTransform transform)
void	resetStateData()
void	setCollision(boolean collision)
void	setMotion(RsMotion _motion)
void	setPlacement(boolean value)

Methods inherited from class rp1.rossum.RsComponent

clone

Methods inherited from class java.lang.Object

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

Field Detail

name

public java.lang.String name

wheelSystem

public RsWheelSystem wheelSystem

motion

public RsMotion motion

refBounds

public RsRectangle refBounds

refEnclosure

public RsSegment[] refEnclosure

placement

public boolean placement

collision

public boolean collision

Constructor Detail

RsBody

public RsBody(java.lang.String nameReference)

Method Detail

addPart

public void addPart(RsBodyPart part)

getBodyPartArray

public RsBodyPart[] getBodyPartArray()

getBodyPainterArray

public RsBodyPainter[] getBodyPainterArray()

getInteractiveBodyShapeArray

public RsBodyShape[] getInteractiveBodyShapeArray()

getName

public java.lang.String getName()

getPartByName

public RsBodyPart getPartByName(java.lang.String _name)

getPartByID

public RsBodyPart getPartByID(int _ID)

copyStateData

public void copyStateData(RsBody dataSource)

applyMotion

public void applyMotion()

resetStateData

public void resetStateData()

setCollision

public void setCollision(boolean collision)

getCollision

public boolean getCollision()

getPositionEvent

public RsPositionEvent getPositionEvent(double simTime)

processSensors

public boolean processSensors(double simTime,
                              RsPlan plan,
                              RsTransform transform)

computeMotion

public void computeMotion(double startTime,
                          RsMotionRequest request)

setMotion

public void setMotion(RsMotion _motion)

getMotion

public RsMotion getMotion()

paint

public void paint(java.awt.Graphics g,
                  RsTransform paintTransform)

setPlacement

public void setPlacement(boolean value)

getPlacement

public boolean getPlacement()

getBounds

public RsRectangle getBounds()

getRefEnclosure

public RsSegment[] getRefEnclosure()

getID

public int getID()

checkForOverlap

public boolean checkForOverlap(RsPlan plan,
                               RsTransform transform)