lejos.robotics.proposal
Class WayPoint

java.lang.Object
  java.awt.geom.Point2D
      java.awt.geom.Point2D.Float
          lejos.geom.Point
              lejos.robotics.proposal.WayPoint

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class WayPoint
extends Point

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class java.awt.geom.Point2D

java.awt.geom.Point2D.Double, java.awt.geom.Point2D.Float

Field Summary

protected float	heading
protected boolean	headingRequired
protected float	maxHeadingError
protected float	maxPositionError

Fields inherited from class java.awt.geom.Point2D.Float

x, y

Constructor Summary

WayPoint(float x, float y)

WayPoint(Point p)

WayPoint(Pose p)

Method Summary

boolean	checkValidity(Pose p) Check that the given pose satisfies the conditions for this way point
float	getHeading()
float	getMaxHeadingError()
float	getMaxPositionError()
Pose	getPose()
void	setMaxHeadingError(float distance)
void	setMaxPositionError(float distance)

Methods inherited from class java.awt.geom.Point2D.Float

getX, getY, setLocation, setLocation, toString

Methods inherited from class java.awt.geom.Point2D

clone, distance, distance, distance, distanceSq, distanceSq, distanceSq, equals, hashCode, setLocation

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

heading

protected float heading

headingRequired

protected boolean headingRequired

maxPositionError

protected float maxPositionError

maxHeadingError

protected float maxHeadingError

Constructor Detail

WayPoint

public WayPoint(float x,
                float y)

WayPoint

public WayPoint(Point p)

WayPoint

public WayPoint(Pose p)

Method Detail

getHeading

public float getHeading()

getMaxPositionError

public float getMaxPositionError()

setMaxPositionError

public void setMaxPositionError(float distance)

getMaxHeadingError

public float getMaxHeadingError()

setMaxHeadingError

public void setMaxHeadingError(float distance)

getPose

public Pose getPose()

checkValidity

public boolean checkValidity(Pose p)

Check that the given pose satisfies the conditions for this way point

Parameters:

p - the Pose