biosim.core.body
Class AphaenogasterCockerelli

java.lang.Object
  biosim.core.body.Body
      biosim.core.body.AbstractAnt
          biosim.core.body.AphaenogasterCockerelli

All Implemented Interfaces:

Gripper, HolonomicDrive, DirectionToPOI, GripperSensor, Homing, NearestObstacleVec, NearestPreyVec, NearestSameTypeVec, NearPOI, SelfVelXYT, java.io.Serializable, sim.engine.Steppable

public class AphaenogasterCockerelli
extends AbstractAnt

See Also:

Serialized Form

Field Summary

double[]	desiredVelXYT
static double	GRIP_RANGE
static double	MAX_VELOCITY_THETA
static double	MAX_VELOCITY_XY
double[]	previousVelXYT
static double	RANGE
static double	SIZE

Fields inherited from class biosim.core.body.AbstractAnt

grabbing

Fields inherited from class biosim.core.body.Body

agent, notFinished, sim

Constructor Summary

AphaenogasterCockerelli()

Method Summary

protected boolean	computeNewConfiguration(sim.util.MutableDouble2D newPos, sim.util.MutableDouble2D newDir)
sim.util.Double3D	getDesiredVel()
boolean	getGripped()
boolean	getHomeDir(sim.util.MutableDouble2D rv)
boolean	getNearestObstacleVec(sim.util.MutableDouble2D rv)
double	getNearestObstacleVecSensorRange()
boolean	getNearestPreyVec(sim.util.MutableDouble2D rv)
double	getNearestPreyVecSensorRange()
boolean	getNearestSameTypeVec(sim.util.MutableDouble2D rv)
double	getNearestSameTypeVecSensorRange()
boolean	getPoiDir(sim.util.MutableDouble2D rv, java.lang.String name)
ec.util.MersenneTwisterFast	getRandom()
boolean	getSelfVelXYT(double[] rv)
double	getSize() The size of the body in meters.
sim.util.Double3D	getVel()
void	init()
boolean	nearPOI(java.lang.String name)
void	setDesiredVelocity(double x, double y, double theta)
void	tryToDrop()
void	tryToGrab()

Methods inherited from class biosim.core.body.Body

collisionCheck, finish, getAgent, move, setAgent, step

Methods inherited from class java.lang.Object

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

Field Detail

desiredVelXYT

public double[] desiredVelXYT

previousVelXYT

public double[] previousVelXYT

SIZE

public static final double SIZE

See Also:

Constant Field Values

RANGE

public static final double RANGE

See Also:

Constant Field Values

GRIP_RANGE

public static final double GRIP_RANGE

See Also:

Constant Field Values

MAX_VELOCITY_XY

public static final double MAX_VELOCITY_XY

See Also:

Constant Field Values

MAX_VELOCITY_THETA

public static final double MAX_VELOCITY_THETA

See Also:

Constant Field Values

Constructor Detail

AphaenogasterCockerelli

public AphaenogasterCockerelli()

Method Detail

getVel

public sim.util.Double3D getVel()

getDesiredVel

public sim.util.Double3D getDesiredVel()

init

public void init()

Overrides:

init in class AbstractAnt

getRandom

public ec.util.MersenneTwisterFast getRandom()

Specified by:

getRandom in class Body

getSize

public double getSize()

Description copied from class: Body

The size of the body in meters. Used in the default portrayal as the size of the displayed circle. Also used in the default Environment.configSim(...) method to determine if a random location for a body is a valid starting location. For Body classes that use more complicated collision detection you may need to write a custom configSim(...) method.

Specified by:

getSize in class Body

getHomeDir

public boolean getHomeDir(sim.util.MutableDouble2D rv)

getPoiDir

public boolean getPoiDir(sim.util.MutableDouble2D rv,
                         java.lang.String name)

nearPOI

public boolean nearPOI(java.lang.String name)

getNearestObstacleVec

public boolean getNearestObstacleVec(sim.util.MutableDouble2D rv)

getNearestObstacleVecSensorRange

public double getNearestObstacleVecSensorRange()

getNearestSameTypeVec

public boolean getNearestSameTypeVec(sim.util.MutableDouble2D rv)

getNearestSameTypeVecSensorRange

public double getNearestSameTypeVecSensorRange()

getNearestPreyVec

public boolean getNearestPreyVec(sim.util.MutableDouble2D rv)

getNearestPreyVecSensorRange

public double getNearestPreyVecSensorRange()

getSelfVelXYT

public boolean getSelfVelXYT(double[] rv)

getGripped

public boolean getGripped()

tryToGrab

public void tryToGrab()

tryToDrop

public void tryToDrop()

setDesiredVelocity

public void setDesiredVelocity(double x,
                               double y,
                               double theta)

computeNewConfiguration

protected boolean computeNewConfiguration(sim.util.MutableDouble2D newPos,
                                          sim.util.MutableDouble2D newDir)

Specified by:

computeNewConfiguration in class Body