Interface IEnvironment

All Known Implementing Classes:

NdTrivialEnv, SimpleScalarEnvironment, TrivialEnvironment

public interface IEnvironment

Interface for environments for robots.

Since:

1.0

Method Summary

IBoundary	getBoundary() Gets boundary interface
int	getDimensionality() dimensionality of space in which environment is embedded
double	getFieldVal(int nWhichField, double[] arrLoc) Gets a particular field value at a particular location
double[]	getFieldVals(double[] arrLoc) Gets all field values for a particular location as a vector
double[]	getGradient(int nWhichField, double[] arrLoc) Gradient at a particular location for a given field
void	getGradient(int nWhichField, double[] arrLoc, double[] arrRslt) Gradient at a particular location for a given field
int	getNumScalars() number of scalar fields over environment
IEnvironment	makeCopy()

Method Detail

getDimensionality

int getDimensionality()

dimensionality of space in which environment is embedded

getNumScalars

int getNumScalars()

number of scalar fields over environment

getFieldVal

double getFieldVal(int nWhichField,
                   double[] arrLoc)

Gets a particular field value at a particular location

getFieldVals

double[] getFieldVals(double[] arrLoc)

Gets all field values for a particular location as a vector

Parameters:

arrLoc - array of location at which measurement is taken

Returns:

array containing field values at arrLoc

getGradient

double[] getGradient(int nWhichField,
                     double[] arrLoc)

Gradient at a particular location for a given field

Parameters:

nWhichField - field to take gradient of

arrLoc - place at which to take gradient

Returns:

gradient (of proper dimensionality) as a double []

getGradient

void getGradient(int nWhichField,
                 double[] arrLoc,
                 double[] arrRslt)

Gradient at a particular location for a given field

Parameters:

nWhichField - field to take gradient of

arrLoc - place at which to take gradient

arrRslt - gradient (of proper dimensionality) as a double []

getBoundary

IBoundary getBoundary()

Gets boundary interface

makeCopy

IEnvironment makeCopy()