lejos.localization
Class LineMap

java.lang.Object
  extended by lejos.localization.LineMap
All Implemented Interfaces:
Map

public class LineMap
extends Object
implements Map

A map of a room or other closed environment, represented by line segments

Author:
Lawrie Griffiths

WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS. DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.

Constructor Summary
LineMap()
          Constructor to use when map will be loaded from a data stream
LineMap(Line[] lines, Rectangle boundingRect)
          Create a map from an array of line segments and a bounding rectangle
 
Method Summary
 void dumpMap(DataOutputStream dos)
          Dump the map to a DataOutputStream
 Rectangle getBoundingRect()
          Return the bounding rectangle of the mapped area
 boolean inside(Point p)
          Check if a point is within the mapped area
 void loadMap(DataInputStream dis)
          Load a map from a DataInputStream
 float range(Pose pose)
          Calculate the range of a robot to the nearest wall
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

LineMap

public LineMap(Line[] lines,
               Rectangle boundingRect)
Create a map from an array of line segments and a bounding rectangle

Parameters:
lines - the line segments
boundingRect - the bounding rectangle

LineMap

public LineMap()
Constructor to use when map will be loaded from a data stream

Method Detail

range

public float range(Pose pose)
Calculate the range of a robot to the nearest wall

Specified by:
range in interface Map
Parameters:
pose - the pose of the robot
Returns:
the range or -1 if not in range

inside

public boolean inside(Point p)
Check if a point is within the mapped area

Specified by:
inside in interface Map
Parameters:
p - the Point
Returns:
true iff the point is with the mapped area

getBoundingRect

public Rectangle getBoundingRect()
Return the bounding rectangle of the mapped area

Specified by:
getBoundingRect in interface Map
Returns:
the bounding rectangle

dumpMap

public void dumpMap(DataOutputStream dos)
             throws IOException
Dump the map to a DataOutputStream

Parameters:
dos - the stream
Throws:
IOException

loadMap

public void loadMap(DataInputStream dis)
             throws IOException
Load a map from a DataInputStream

Parameters:
dis - the stream
Throws:
IOException