Package jadex.quickstart.cleanerworld.environment

Class 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 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.