Project: bml_lib License: BSD Dependencies: bml_msgs bml_srvs rosjava Used by: bml_realizer All Packages

bml_lib/src/edu/wpi/hri/bml/behavior/LocomotionBehavior.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.bml.behavior; import org.w3c.dom.Document; import org.w3c.dom.Element; import edu.wpi.hri.bml.behavior.BehaviorEnums.BehaviorType; import edu.wpi.hri.bml.behavior.BehaviorEnums.LocomotionManner; import edu.wpi.hri.bml.behavior.BehaviorEnums.LocomotionType; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.LoggerLevel; public class LocomotionBehavior extends Behavior { private static final String TYPE_ATTR = "type"; private static final String PROXIMITY_ATTR = "proximity"; private static final String FACING_ATTR = "facing"; private static final String MANNER_ATTR = "manner"; private static final String DYNAMIC_ATTR = "dynamic"; private static final String VELOCITY_ATTR = "velocity"; private final LocomotionType type; private final float proximity; private final float facing; private final LocomotionManner manner; private final boolean dynamic; private final String velocity; public LocomotionBehavior(Logger logger, Element elem) { super(logger, elem); // get the type of the locomotion if (elem.hasAttribute(TYPE_ATTR)) this.type = LocomotionType.valueOf(elem.getAttribute(TYPE_ATTR)); else this.type = LocomotionType.TARGET; // then the proximity if (elem.hasAttribute(PROXIMITY_ATTR)) this.proximity = Float .parseFloat(elem.getAttribute(PROXIMITY_ATTR)); else this.proximity = 0.0f; // then the facing if (elem.hasAttribute(FACING_ATTR)) this.facing = Float.parseFloat(elem.getAttribute(FACING_ATTR)); else this.facing = 0.0f; // then the manner if (elem.hasAttribute(MANNER_ATTR)) this.manner = LocomotionManner.valueOf(elem .getAttribute(MANNER_ATTR)); else this.manner = LocomotionManner.WALKING; // then if dynamic or not if (elem.hasAttribute(DYNAMIC_ATTR)) this.dynamic = Boolean .parseBoolean(elem.getAttribute(DYNAMIC_ATTR)); else this.dynamic = true; // finally the velocity if (elem.hasAttribute(VELOCITY_ATTR)) this.velocity = elem.getAttribute(VELOCITY_ATTR); else this.velocity = ""; this.logger.debug(LoggerLevel.BEHAVIOR, "Created ..."); } public LocomotionBehavior(Logger logger, String id, LocomotionType type, float proximity, float facing, LocomotionManner manner, boolean dynamic, String velocity, boolean required) { super(logger, id, required); this.type = type; this.proximity = proximity; this.facing = facing; this.manner = manner; this.dynamic = dynamic; this.velocity = velocity; this.logger.debug(LoggerLevel.BEHAVIOR, "Created ..."); } public LocomotionType getType() { return type; } public float getProximity() { return proximity; } public float getFacing() { return facing; } public LocomotionManner getManner() { return manner; } public boolean isDynamic() { return dynamic; } public String getVelocity() { return velocity; } @Override protected void appendAttributes(Document doc, Element elem) { // add the type if (this.type != null) elem.setAttribute(TYPE_ATTR, this.type.toString()); // add the proximity if (this.proximity != 0.0f) elem.setAttribute(PROXIMITY_ATTR, String.valueOf(this.proximity)); // add the facing if (this.facing != 0.0f) elem.setAttribute(FACING_ATTR, String.valueOf(this.facing)); // add the manner if (this.manner != null) elem.setAttribute(MANNER_ATTR, this.manner.toString()); // add the dynamic (ALWAYS) elem.setAttribute(DYNAMIC_ATTR, String.valueOf(this.dynamic)); // add the velocity if (this.velocity != null && !this.velocity.isEmpty()) elem.setAttribute(VELOCITY_ATTR, this.velocity); } @Override protected String getElementName() { return BehaviorType.LOCOMOTION.elementName; } }

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bml_lib
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:05 2011