/* * Capture.java */package EDU.gatech.cc.is.abstractrobot;import EDU.gatech.cc.is.communication.Transceiver;import EDU.gatech.cc.is.util.*;/** * Provides an abstract interface to the hardware of * a foraging Nomad 150 robot.   *  * <B>Introduction</B><BR> * If you write a control system using this interface to the hardware, * you can test it in simulation and on mobile robots. * <P> * Capture robots are multiforaging robots with long-range vision * based on the Nomad 150 platform. * "Multi Foraging" means the robot can sense several * different classes of objects to collect, along with different bins in * which to to deposit them. * A SimpleN150 robot has sonar range finders, bumper * switches, and odometry and steering, translation and turret motors. * These capabilities are extended on a MultiForageN150 through the * addition of color vision and a gripper. * <P> * <B>Vision sensing</B><BR> * Vision hardware provides six "channels" that each track a different * type of object.  Each call to one of the vision routines requires a reference * to which channel is being accessed. * Bins and objects to collect are sensed by the same vision hardware. * <P> * <B>Frames of reference</B><BR> * We use a standard cartesian coordinate system in * meters and radians.  Pretend you are looking down * on the robot: +x * goes out to your right (East), +y goes up (North).   * When the robot is initialized, it is facing the +x direction. * Headings are given in radians, with East=0, North=PI/2 and so on CCW * around to 2*PI. * Some methods return "egocentric" vectors. * An egocentric vector is given relative to the center of * the robot in the same heading reference frame as global coordinates. * An object one meter east of the robot is at (1,0) egocentrically. * <P> * <B>Implementations</B><BR> * This class is extended by a simulation class (CaptureSim). * The subclasse * handles details of interaction with the simulated * world. * <P> * <B>Timestamps</B><BR> * Many of the sensor and motor command * methods (e.g. get* and set*) require a timestamp as a parameter. * This is to help reduce the amount of I/O to the physical robot. * If the timestamp is less than or equal to the value sent on the * last call to one of these methods, old data is returned. * If the timestamp is -1 or greater than the last timestamp, the * robot is queried, and new data is returned.  The idea is * that during each control cycle the higher level software will * increment the timestamp and use it for all calls to these methods. * * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ * @see CaptureSim */public interface Capture extends SimpleN150,	VisualObjectSensor, GripperActuator, KinSensor, Transceiver	{	// some useful numbers        public  static final double  VISION_RANGE = 30.0;        public  static final int     VISION_FOV_DEG = 100;        public  static final double  VISION_FOV_RAD = Units.DegToRad(100);        //public  static final double  GRIPPER_CAPTURE_RADIUS = 0.10; //10 cm        public  static final double  GRIPPER_CAPTURE_RADIUS = 0.06; //6 cm        public  static final double  GRIPPER_POSITION = 0.35; //from center	}