Packageorg.MARS.robot
Classpublic class Robot
InheritanceRobot Inheritance RigidBody Inheritance SimpleParticle Inheritance flash.events.EventDispatcher
ImplementsIBody, IODE, ISimulatable

Simulates a mobile autonomous robot


Public Properties
 PropertyDefined by
  actuators : Array
[read-only] Robot's actuators
Robot
 Inheritedav : Number
RigidBody
 InheritedcollisionTypeID : String
RigidBody
  controller : IController
[read-only] Robot's controller
Robot
 Inheritedelasticity : Number
SimpleParticle
 Inheritedforce : Vector
SimpleParticle
 Inheritedfriction : Number
SimpleParticle
 InheritedI : Number
RigidBody
 InheritedinverseI : Number
RigidBody
 InheritedinverseMass : Number
SimpleParticle
  isAlive : Boolean
[read-only]
Robot
  locomotion : ILocomotion
[read-only] Robot's locomotion system
Robot
 Inheritedmass : Number
SimpleParticle
 Inheritedposition : Vector
SimpleParticle
  previousPosition : Vector
[read-only]
Robot
 Inheritedq : Number
RigidBody
 Inheritedrotation : RotationMatrix
Gets the rotation matrix of the body

Because the creation of a rotation matrix involves 2 trigonometric function calls, it's worthwhile to do a check to see if we need to create a new rotation matrix.

RigidBody
  sensors : Array
[read-only] Robot's sensors
Robot
 Inheritedshape : Shape
RigidBody
 Inheritedstate : Array
Gets the state of the differential equation

Consider a particle with position x and velocity v.

SimpleParticle
 Inheritedtorque : Number
RigidBody
 Inheritedvelocity : Vector
SimpleParticle
 Inheritedvx : Number
SimpleParticle
 Inheritedvy : Number
SimpleParticle
 Inheritedx : Number
Note that these values that constitute this IODE's state use getters/setters that access specific indices within _state.
SimpleParticle
 Inheritedy : Number
SimpleParticle
Protected Properties
 PropertyDefined by
 Inherited_elasticity : Number
elastic coefficient of particle (used in collision response)
SimpleParticle
 Inherited_force : Vector
holds all accummulate forces
SimpleParticle
 Inherited_friction : Number
frictional coefficient (used in collision response)
SimpleParticle
 Inherited_generators : Array
holds all IForceGenerators affecting this particle
SimpleParticle
 Inherited_I : Number
inertia tensor
RigidBody
 Inherited_inverseI : Number
inverse inertia tensor
RigidBody
 Inherited_inverseMass : Number
holds the inverse mass- this is an optimization as multiplication is faster than division and we can calculate this offline
SimpleParticle
 Inherited_mass : Number
holds the mass of the particle
SimpleParticle
 Inherited_rotation : RotationMatrix
rotation matrix of body
RigidBody
 Inherited_shape : Shape
body shape
RigidBody
 Inherited_state : Array
holds the state of the system
SimpleParticle
 Inherited_torque : Number
torque accumulator
RigidBody
Public Methods
 MethodDefined by
  
Robot(x:Number, y:Number, rotation:Number, shape:Shape, controller:IController, locomotion:ILocomotion, mass:Number = 100, solver:IODESolver = null, friction:Number = 0.2, elasticity:Number = 0.15)
Create a robot using the given parameters
Robot
 Inherited
accumulateForces():void
Accumulates forces
SimpleParticle
  
addActuator(actuator:IActuator):void
Add the provided actuator to the robot
Robot
 Inherited
addForce(force:Vector):void
Adds a force to the particle
SimpleParticle
 Inherited
addForceAtPoint(point:Vector, force:Vector):void
Adds a force at a specific point on the body

IF the point specified is not the center of mass (0,0), the force will induce a change in angular velocity as well as linear.

RigidBody
 Inherited
addForceGenerator(generator:IForceGenerator):void
Adds a force generator to influence this particle
SimpleParticle
  
addSensor(sensor:ISensor):void
Add the provided sensor to the robot
Robot
  
addToEnvironment():void
Simple way to attach the robot to the Environment for simulation
Robot
 Inherited
addTorque(torque:Number):void
Adds torque to the body

This is the rotational equivalent to adding a force

RigidBody
 Inherited
clearForces():void
Clears all forces
SimpleParticle
 Inherited
clearTorque():void
Clears any accumulated torque
RigidBody
  
collide():void
Print a message that the robot has collided with a wall or a heavy object
Robot
  
fallOff():void
Print a message that the robot has fallen off of the table
Robot
  
getDerivative(state:Array, derivative:Array):void
Gets the derivative of the body
Robot
 Inherited
getVelocityAtPoint(point:Vector):Vector
Gets the velocity of the body at a specified point

Note that this point is given in world-coordinates.

RigidBody
  
isOnTable():Boolean
Check if the robot is on the table by checking if both of its wheels are on the table.
Robot
 Inherited
removeForceGenerator(generator:IForceGenerator):void
Removes a force generator
SimpleParticle
  
step():void
A function that is called on every step of the physics engine.
Robot
Protected Methods
 MethodDefined by
 Inherited
calculateInertiaTensor():void
Calculates the body's inertia tensor

The inertia tensor is the rotational equivalent to mass- it is also linked to mass.

RigidBody
Property detail
actuatorsproperty
actuators:Array  [read-only]

Robot's actuators

Implementation
    public function get actuators():Array
controllerproperty 
controller:IController  [read-only]

Robot's controller

Implementation
    public function get controller():IController
isAliveproperty 
isAlive:Boolean  [read-only]Implementation
    public function get isAlive():Boolean
locomotionproperty 
locomotion:ILocomotion  [read-only]

Robot's locomotion system

Implementation
    public function get locomotion():ILocomotion
previousPositionproperty 
previousPosition:Vector  [read-only]Implementation
    public function get previousPosition():Vector
sensorsproperty 
sensors:Array  [read-only]

Robot's sensors

Implementation
    public function get sensors():Array
Constructor detail
Robot()constructor
public function Robot(x:Number, y:Number, rotation:Number, shape:Shape, controller:IController, locomotion:ILocomotion, mass:Number = 100, solver:IODESolver = null, friction:Number = 0.2, elasticity:Number = 0.15)

Create a robot using the given parameters

Parameters
x:Number — - starting x position of the robot
 
y:Number — - starting y position of the robot
 
rotation:Number — - starting rotation of the robot (in radians)
 
shape:Shape — - shape of the robot
 
controller:IController — - robot's controller
 
locomotion:ILocomotion — - robot's locomotion system
 
mass:Number (default = 100) — - mass of the robot (100 by default)
 
solver:IODESolver (default = null) — - ODE solver to override the default provided by the physics engine (null by defaul)
 
friction:Number (default = 0.2) — - friction of the robot's edge used in calculation of the collision resolution (0.2 by default)
 
elasticity:Number (default = 0.15) — - elasticity of the robot's body used in calculation of the collision resolution (0.15 by default)
Method detail
addActuator()method
public function addActuator(actuator:IActuator):void

Add the provided actuator to the robot

Parameters
actuator:IActuator
addSensor()method 
public function addSensor(sensor:ISensor):void

Add the provided sensor to the robot

Parameters
sensor:ISensor
addToEnvironment()method 
public function addToEnvironment():void

Simple way to attach the robot to the Environment for simulation

collide()method 
public function collide():void

Print a message that the robot has collided with a wall or a heavy object

fallOff()method 
public function fallOff():void

Print a message that the robot has fallen off of the table

getDerivative()method 
public override function getDerivative(state:Array, derivative:Array):void

Gets the derivative of the body

Parameters
state:Array — body's state
 
derivative:Array — Array to populate with body's derivative

See also

IODE.getDerivative
RigidBody
isOnTable()method 
public function isOnTable():Boolean

Check if the robot is on the table by checking if both of its wheels are on the table.

Returns
Boolean — true if both wheels are on the table, false if any of the wheels is off the table.
step()method 
public function step():void

A function that is called on every step of the physics engine. Updates the reading on each sensor and advances the robot's conroller one step as well.