jadex.quickstart.cleanerworld.environment

Class SensorActuator

java.lang.Object

jadex.quickstart.cleanerworld.environment.SensorActuator

public class SensorActuator
extends java.lang.Object

The sensor / actuator gives access to the perceived environment and provides operations to manipulate the environment. Each cleaner agent should create its own sensor/actuator.

Constructor Summary

Constructors

Constructor and Description
SensorActuator() Create a sensor for a new cleaner robot.

Method Summary

Modifier and Type	Method and Description
void	dropWasteInWastebin(IWaste waste, IWastebin wastebin) Drop a piece of waste.
java.util.Set<IChargingstation>	getChargingstations() Get the known charging stations.
java.util.Set<ICleaner>	getCleaners() Get the known other cleaners.
ICleaner	getSelf() Get the knowledge about the cleaner itself.
ILocation	getTarget() Get the current movement target, if any.
java.util.Set<IWastebin>	getWastebins() Get the known waste pieces.
java.util.Set<IWaste>	getWastes() Get the known waste pieces.
boolean	isDaytime() Check, if it is at day or at night.
void	manageChargingstationsIn(java.util.Set<IChargingstation> chargingstations) Use the provided set to manage the known charging station objects.
void	manageCleanersIn(java.util.Set<ICleaner> cleaners) Use the provided set to manage the known cleaner objects.
void	manageWastebinsIn(java.util.Set<IWastebin> wastebins) Use the provided set to manage the known waste bin objects.
void	manageWastesIn(java.util.Set<IWaste> wastes) Use the provided set to manage the known waste objects.
void	moveTo(double x, double y) Move to the given location.
void	moveTo(ILocation location) Move to the given location.
void	pickUpWaste(IWaste waste) Try to pick up some piece of waste.
void	recharge(IChargingstation chargingstation, double level) Recharge a cleaner at a charging station to a desired charging level.

Methods inherited from class java.lang.Object

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

Constructor Detail

SensorActuator

public SensorActuator()

Create a sensor for a new cleaner robot.

Method Detail

getSelf

public ICleaner getSelf()

Get the knowledge about the cleaner itself.

Returns:

The cleaner object.

isDaytime

public boolean isDaytime()

Check, if it is at day or at night.

Returns:

true, if at day.

getCleaners

public java.util.Set<ICleaner> getCleaners()

Get the known other cleaners.

Returns:

a Set of Cleaner objects.

getWastes

public java.util.Set<IWaste> getWastes()

Get the known waste pieces.

Returns:

a Set of Waste objects.

getChargingstations

public java.util.Set<IChargingstation> getChargingstations()

Get the known charging stations.

Returns:

a Set of Chargingstation objects.

getWastebins

public java.util.Set<IWastebin> getWastebins()

Get the known waste pieces.

Returns:

a Set of Waste objects.

manageWastesIn

public void manageWastesIn(java.util.Set<IWaste> wastes)

Use the provided set to manage the known waste objects. Allows using custom data structures such as BDI belief sets directly.

manageWastebinsIn

public void manageWastebinsIn(java.util.Set<IWastebin> wastebins)

Use the provided set to manage the known waste bin objects. Allows using custom data structures such as BDI belief sets directly.

manageChargingstationsIn

public void manageChargingstationsIn(java.util.Set<IChargingstation> chargingstations)

Use the provided set to manage the known charging station objects. Allows using custom data structures such as BDI belief sets directly.

manageCleanersIn

public void manageCleanersIn(java.util.Set<ICleaner> cleaners)

Use the provided set to manage the known cleaner objects. Allows using custom data structures such as BDI belief sets directly.

moveTo

public void moveTo(ILocation location)

Move to the given location. Blocks until the location is reached or a failure occurs.

Parameters:

location - The location.

moveTo

public void moveTo(double x,
                   double y)

Move to the given location. Blocks until the location is reached or a failure occurs.

Parameters:

x - X coordinate.

y - Y coordinate.

recharge

public void recharge(IChargingstation chargingstation,
                     double level)

Recharge a cleaner at a charging station to a desired charging level. The cleaner needs to be at the location of the charging station Note, the charging rate gets slower over 70% charge state.

Parameters:

chargingstation - The charging station to recharge at.

level - The desired charging level between 0 and 1.

getTarget

public ILocation getTarget()

Get the current movement target, if any.

Returns:

The target or null when no current target.

pickUpWaste

public void pickUpWaste(IWaste waste)

Try to pick up some piece of waste.

Parameters:

waste - The waste.

dropWasteInWastebin

public void dropWasteInWastebin(IWaste waste,
                                IWastebin wastebin)

Drop a piece of waste.