lejos.localization
Class LineMap

java.lang.Object
  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