Class SwarmPathDraw

java.lang.Object
  SwarmPathDraw

All Implemented Interfaces:

ISimUICallback, ISwarmDraw

public class SwarmPathDraw
extends java.lang.Object
implements ISimUICallback, ISwarmDraw

Method Summary

void	addDrawAgent(IDrawAgent agent)
boolean	doCallback(double[] arrLfState, IAgent agent, StateBundle[] arrStates, ISensor[] arrSensors, IEnvironment env, CommGraph graph, double lfSimTime) Callback function
java.lang.Object	getLastObject() In case we need more info then true/false from doCallback
void	paint(java.awt.Graphics g)
double	realTimeToSimTime(java.util.Date dateRealTime)
void	reDraw(java.awt.Graphics g)
void	scaleProjection(int nNewX, int nNewY)
void	setDrawAllLinks(boolean bDrawAllLinks)
void	setDrawVoronoi(boolean bDrawVoronoi)
void	setDynamicEnvironment(IEnvironment env) does nothing in this implementation
void	setEnvDraw(IEnvDraw envDraw)
void	setProjection(IProjection proj) Pass in a projection class to handle mapping points to screen coords.
void	setSampFreq(int nSampFreq)
void	setStaticEnvironment(IEnvironment env) does nothing in this implementation
java.util.Date	simTimeToRealTime(double lfSimTime)
void	xlateProjection(int nXOff, int nYOff)

Methods inherited from class java.lang.Object

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

Method Detail

setDrawVoronoi

public void setDrawVoronoi(boolean bDrawVoronoi)

simTimeToRealTime

public java.util.Date simTimeToRealTime(double lfSimTime)

Specified by:

simTimeToRealTime in interface ISwarmDraw

realTimeToSimTime

public double realTimeToSimTime(java.util.Date dateRealTime)

Specified by:

realTimeToSimTime in interface ISwarmDraw

setDrawAllLinks

public void setDrawAllLinks(boolean bDrawAllLinks)

setStaticEnvironment

public void setStaticEnvironment(IEnvironment env)

does nothing in this implementation

setDynamicEnvironment

public void setDynamicEnvironment(IEnvironment env)

does nothing in this implementation

setEnvDraw

public void setEnvDraw(IEnvDraw envDraw)

Specified by:

setEnvDraw in interface ISwarmDraw

addDrawAgent

public void addDrawAgent(IDrawAgent agent)

Specified by:

addDrawAgent in interface ISwarmDraw

setProjection

public void setProjection(IProjection proj)

Pass in a projection class to handle mapping points to screen coords.

Specified by:

setProjection in interface ISwarmDraw

setSampFreq

public void setSampFreq(int nSampFreq)

scaleProjection

public void scaleProjection(int nNewX,
                            int nNewY)

Specified by:

scaleProjection in interface ISwarmDraw

xlateProjection

public void xlateProjection(int nXOff,
                            int nYOff)

Specified by:

xlateProjection in interface ISwarmDraw

reDraw

public void reDraw(java.awt.Graphics g)

Specified by:

reDraw in interface ISwarmDraw

paint

public void paint(java.awt.Graphics g)

doCallback

public boolean doCallback(double[] arrLfState,
                          IAgent agent,
                          StateBundle[] arrStates,
                          ISensor[] arrSensors,
                          IEnvironment env,
                          CommGraph graph,
                          double lfSimTime)

Callback function

Specified by:

doCallback in interface ISimUICallback

Parameters:

arrLfState - state vector (initially initial state, overwritten with final state)

agent - agent mapping (currently only support for homogenous swarms )

arrStates - discrete state and control function of each agent (assumed not to change over integration)

arrSensors - array of sensor interfaces.

env - environment

graph - new communication graph (if an update is needed pass null otherwise)

lfSimTime - current simulated time

Returns:

true if something unusual has happened

getLastObject

public java.lang.Object getLastObject()

In case we need more info then true/false from doCallback

Specified by:

getLastObject in interface ISimUICallback

Returns:

null