com.ridgesoft.robotics.behaviors
Class GoToBehavior

java.lang.Object
  com.ridgesoft.robotics.behaviors.AbstractBehavior2
      com.ridgesoft.robotics.behaviors.GoToBehavior

All Implemented Interfaces:

Behavior, Behavior2, NavigatorListener

public class GoToBehavior
extends AbstractBehavior2
implements NavigatorListener

Implements a behavior that will cause a robot to strive to navigate to a particular x, y location when the behavior is enabled.

See Also:

BehaviorArbiter

Field Summary

Fields inherited from class com.ridgesoft.robotics.behaviors.AbstractBehavior2

mEnabled, mIsActive, mListener

Constructor Summary

GoToBehavior(Navigator navigator, float x, float y, boolean enabled)
Constructs a GoToBehavior object.

Method Summary

void	navigationOperationTerminated(boolean completed) Listener method that enables this behavior to listen for termination of commands it issues to the navigator.
boolean	poll() This method is invoked at regular intervals to determine if the behavior desires to control the robot.
void	setDestination(float x, float y) Sets the goal (x, y destination) of this behavior.

Methods inherited from class com.ridgesoft.robotics.behaviors.AbstractBehavior2

setActive, setEnabled, setListener

Methods inherited from class java.lang.Object

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

Constructor Detail

GoToBehavior

public GoToBehavior(Navigator navigator,
                    float x,
                    float y,
                    boolean enabled)

Constructs a GoToBehavior object.

Parameters:

navigator - the robot's navigator

x - the x coordinate of the point to go to

y - the y coordinate of the point to go to

enabled - initial enabled state of the behavior

Method Detail

navigationOperationTerminated

public void navigationOperationTerminated(boolean completed)

Listener method that enables this behavior to listen for termination of commands it issues to the navigator.

Specified by:

navigationOperationTerminated in interface NavigatorListener

Parameters:

completed - true if the operation completed, false otherwise

poll

public boolean poll()

This method is invoked at regular intervals to determine if the behavior desires to control the robot.

If active, this method will also instruct the robot to destination.

Specified by:

poll in interface Behavior

Specified by:

poll in class AbstractBehavior2

Returns:

true if the wants control of the robot, otherwise false

setDestination

public void setDestination(float x,
                           float y)

Sets the goal (x, y destination) of this behavior.

Parameters:

x - the x coordinate of the point to go to

y - the y coordinate of the point to go to