/*
* Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your option) any later
* version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
* details.
*
* You should have received a copy of the GNU General Public License along with
* this program; if not, write to the Free Software Foundation, Inc., 59 Temple
* Place, Suite 330, Boston, MA 02111-1307 USA
*
* -----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/03/17 17:55:54 $ $Revision: 1.6 $ $Source: /cvsroot/simbad/src/simbad/demo/BaseDemo.java,v $
*/
package simbad.demo;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;
import simbad.sim.*;
/** A Basic demo with camera sensor, sonars and bumpers.
* The robot wanders and stops when it collides.
*
*/
public class BaseDemo extends Demo {
public class Robot extends Agent {
RangeSensorBelt sonars;
CameraSensor camera;
public Robot (Vector3d position, String name) {
super(position,name);
// Add sensors
camera = RobotFactory.addCameraSensor(this);
RobotFactory.addBumperBeltSensor(this);
// Add sonars and get corresponding object.
sonars = RobotFactory.addSonarBeltSensor(this);
}
/** Initialize Agent's Behavior*/
public void initBehavior() {
// nothing particular in this case
}
/** Perform one step of Agent's Behavior */
public void performBehavior() {
// progress at 0.5 m/s
setTranslationalVelocity(0.5);
// frequently change orientation
if ((getCounter() % 100)==0) setRotationalVelocity(Math.PI/2 * (0.5 - Math.random()));
// print front sonar every 100 frames
if(getCounter() %100==0)
System.out.println("Sonar num 0 = "+sonars.getMeasurement(0));
}
}
public BaseDemo() {
light1IsOn = true;
light2IsOn = false;
Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
w1.rotate90(1);
add(w1);
Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
w2.rotate90(1);
add(w2);
Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
add(w3);
Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
add(w4);
Box b1 = new Box(new Vector3d(-3, 0, -3), new Vector3f(1, 1, 1), this);
add(b1);
add( new Arch(new Vector3d(3, 0, -3), this));
add(new Robot(new Vector3d(0, 0, 0), "robot 1"));
}
}