Class SensorActuator

java.lang.Object
jadex.quickstart.cleanerworld.environment.SensorActuator

public class SensorActuator extends 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.
  • Field Details

    • agent

      public jadex.execution.IExecutionFeature agent
      The agent. Must be public due to Java Reflection Restrictions
  • Constructor Details

    • SensorActuator

      public SensorActuator()
      Create a sensor for a new cleaner robot.
  • Method Details

    • 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 Set<ICleaner> getCleaners()
      Get the known other cleaners.
      Returns:
      a Set of Cleaner objects.
    • getWastes

      public Set<IWaste> getWastes()
      Get the known waste pieces.
      Returns:
      a Set of Waste objects.
    • getChargingstations

      public Set<IChargingstation> getChargingstations()
      Get the known charging stations.
      Returns:
      a Set of Chargingstation objects.
    • getWastebins

      public Set<IWastebin> getWastebins()
      Get the known waste pieces.
      Returns:
      a Set of Waste objects.
    • manageWastesIn

      public void manageWastesIn(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(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(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(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.