lejos.navigation
Class WaypointNavigator

java.lang.Object
  lejos.navigation.SimpleNavigator
      lejos.navigation.WaypointNavigator

All Implemented Interfaces:

Navigator

public class WaypointNavigator
extends SimpleNavigator

The WaypointNavigator class extends the SimpleNavigator allowing the specify a path along a set of coordinates.

Author:

Dirk Sturzebecher - 20090131 - initial version

Constructor Summary

WaypointNavigator(Pilot pilot, float x, float y, float heading)
Create a WaypointNavigator.

Method Summary

void	add(float xpos, float ypos, float turnSpeed, float moveSpeed) Add a point to the path to move.
void	clear() Stop the robot and clear the queue.
void	execute() Start to move along the list of points in the queue.

Methods inherited from class lejos.navigation.SimpleNavigator

angleTo, backward, distanceTo, forward, getAngle, getPilot, getX, getY, goTo, goTo, isMoving, rotate, rotate, rotateLeft, rotateRight, rotateTo, rotateTo, setMoveSpeed, setPosition, setSpeed, setTurnSpeed, stop, travel, travel, turn, turn, turn, updatePosition

Methods inherited from class java.lang.Object

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

Constructor Detail

WaypointNavigator

public WaypointNavigator(Pilot pilot,
                         float x,
                         float y,
                         float heading)

Create a WaypointNavigator. Just add points to the queue to determine path.

Parameters:

pilot - The Pilot to use.

x - The starting x position.

y - The starting y position.

heading - The starting heading.

Method Detail

clear

public void clear()

Stop the robot and clear the queue.

add

public void add(float xpos,
                float ypos,
                float turnSpeed,
                float moveSpeed)

Add a point to the path to move.

Parameters:

xpos - The x coordinate.

ypos - The y coordinate.

turnSpeed - The speed to use for turns.

moveSpeed - The speed to use for moves.

execute

public void execute()

Start to move along the list of points in the queue.