MoveActionUnit.java
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2011, 2012
00004  *
00005  * School of Engineering, Cardiff University, UK
00006  *
00007  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00008  *
00009  * Project name: srs EU FP7 (www.srs-project.eu)
00010  * ROS stack name: srs
00011  * ROS package name: srs_knowledge
00012  * Description: 
00013  *                                                              
00014  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00015  *
00016  * @author Ze Ji, email: jiz1@cf.ac.uk
00017  *
00018  * Date of creation: Oct 2011:
00019  * ToDo: 
00020  *
00021  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00022  *
00023  * Redistribution and use in source and binary forms, with or without
00024  * modification, are permitted provided that the following conditions are met:
00025  *
00026  *       * Redistributions of source code must retain the above copyright
00027  *         notice, this list of conditions and the following disclaimer.
00028  *       * Redistributions in binary form must reproduce the above copyright
00029  *         notice, this list of conditions and the following disclaimer in the
00030  *         documentation and/or other materials provided with the distribution.
00031  *       * Neither the name of the school of Engineering, Cardiff University nor 
00032  *         the names of its contributors may be used to endorse or promote products 
00033  *         derived from this software without specific prior written permission.
00034  *
00035  * This program is free software: you can redistribute it and/or modify
00036  * it under the terms of the GNU Lesser General Public License LGPL as 
00037  * published by the Free Software Foundation, either version 3 of the 
00038  * License, or (at your option) any later version.
00039  * 
00040  * This program is distributed in the hope that it will be useful,
00041  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00042  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00043  * GNU Lesser General Public License LGPL for more details.
00044  * 
00045  * You should have received a copy of the GNU Lesser General Public 
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00047  * If not, see <http://www.gnu.org/licenses/>.
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00049  ****************************************************************/
00050 
00051 package org.srs.srs_knowledge.task;
00052 
00053 import java.io.*;
00054 import java.util.StringTokenizer;
00055 import java.util.ArrayList;
00056 
00057 import ros.pkg.srs_knowledge.msg.*;
00058 import ros.pkg.geometry_msgs.msg.Pose2D;
00059 
00060 import org.srs.srs_knowledge.task.Task;
00061 import org.srs.srs_knowledge.knowledge_engine.*;
00062 
00063 
00068 public class MoveActionUnit extends HighLevelActionUnit {
00069 
00070     public MoveActionUnit(Pose2D position) {
00071         GenericAction ga = new GenericAction();
00072         ga.jsonActionInfo = SRSJSONParser.encodeMoveAction("move", position.x, position.y, position.theta);
00073         actionUnits.add(ga);
00074 
00075         // this actionunit is always set with sufficient parameters
00076         ifBasePoseSet = true;
00077         ifParametersSet = true;
00078 
00079         int size = actionUnits.size(); 
00080         nextActionMapIfFail = new int[size];
00081         nextActionMapIfSuccess = new int[size];
00082         
00083         for(int i = 0; i < size; i++) {
00084             nextActionMapIfFail[i] =  COMPLETED_FAIL;
00085             nextActionMapIfSuccess[i] = COMPLETED_SUCCESS;  
00086         }
00087 
00088     }
00089 
00090     public String getActionType() {
00091         actionType = "Move";
00092         return actionType;
00093     }
00094 
00095     @Override
00096     public boolean setParameters(String action, String para, String reservedParam) {
00097         if(action.equals("move")) {
00098             setBasePose(para);
00099         }
00100         return ifParametersSet;
00101     }
00102 
00103     private void setBasePose(String jsonPose) {
00104 
00105         GenericAction nga = new GenericAction();
00106         nga.jsonActionInfo = jsonPose;
00107         actionUnits.set(0, nga);
00108         ifBasePoseSet = true;
00109         ifParametersSet = ifBasePoseSet;
00110     }
00111 
00112     public boolean ifParametersSet() {
00113         return ifParametersSet;
00114     }
00115 
00116     private boolean ifBasePoseSet = false;
00117 }


srs_knowledge
Author(s): Ze Ji
autogenerated on Mon Oct 6 2014 08:27:32