org.ptolemy.ssm

Class Map

java.lang.Object

ptolemy.kernel.util.NamedObj

ptolemy.kernel.InstantiableNamedObj

ptolemy.kernel.Entity<T>

ptolemy.kernel.ComponentEntity<T>

ptolemy.actor.AtomicActor<TypedIOPort>

ptolemy.actor.TypedAtomicActor

org.ptolemy.ssm.Map

All Implemented Interfaces:

java.lang.Cloneable, Actor, Executable, FiringsRecordable, Initializable, TypedActor, Changeable, Debuggable, DebugListener, Decorator, Derivable, Instantiable, ModelErrorHandler, MoMLExportable, Moveable, Nameable

public class Map
extends TypedAtomicActor
implements Decorator

An occupancy grid map. The map input, which can come from an image file read by PGMReader, is a record with width, height, and grid fields. The width and height are positive integers, and the grid is an array of integer values for each position in the map. This actor decorates any entity in the model that implements the MapConstrained interface.

Since:

Ptolemy II 11.0

Version:

$Id$

Author:

Ilge Akkaya

See Also:

MapConstrained, PGMReader

Pt.AcceptedRating:

Red (cxh)

Pt.ProposedRating:

Red (cxh)

Nested Class Summary

Nested classes/interfaces inherited from class ptolemy.kernel.Entity

Entity.ContainedObjectsIterator

Field Summary

Fields

Modifier and Type	Field and Description
protected java.util.List<NamedObj>	_decoratedObjects Cached list of decorated objects.
protected long	_decoratedObjectsVersion Version for _decoratedObjects.
PortParameter	map The occupancy grid map.
Parameter	origin A 2-d array denoting the map origin in x and y directions respectively.
Parameter	resolution Map resolution in meters/pixel.

Fields inherited from class ptolemy.actor.TypedAtomicActor

_typesValid

Fields inherited from class ptolemy.actor.AtomicActor

_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested

Fields inherited from class ptolemy.kernel.util.NamedObj

_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _deferChangeRequests, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKS

Fields inherited from interface ptolemy.actor.Executable

COMPLETED, NOT_READY, STOP_ITERATING

Constructor Summary

Constructors

Constructor and Description
Map(CompositeEntity container, java.lang.String name) Construct a StateSpaceModel with a name and a container.

Method Summary

Modifier and Type	Method and Description
void	attributeChanged(Attribute attribute) Update the state accordingly.
java.lang.Object	clone(Workspace workspace) Clone the actor into the specified workspace.
DecoratorAttributes	createDecoratorAttributes(NamedObj target) Create and return the decorated attributes for the target NamedObj.
java.util.List<NamedObj>	decoratedObjects() Return the decorated objects.
java.lang.String	description() Return a full description of the object.
void	fire() Do nothing.
int[][]	getOccupancyGrid() Return the occupancy grid.
double[]	getOrigin() Return the origin.
boolean	isGlobalDecorator() Return true if this decorator should decorate objects across opaque hierarchy boundaries.
boolean	withinValidMapArea(double xCoord, double yCoord) Check if queried (x,y) position is within the valid map area.

Methods inherited from class ptolemy.actor.TypedAtomicActor

_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints

Methods inherited from class ptolemy.actor.AtomicActor

_actorFiring, _actorFiring, _declareDelayDependency, addActorFiringListener, addInitializable, connectionsChanged, createReceivers, declareDelayDependency, getCausalityInterface, getDirector, getExecutiveDirector, getManager, initialize, inputPortList, isFireFunctional, isStrict, iterate, newReceiver, outputPortList, postfire, prefire, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate, wrapup

Methods inherited from class ptolemy.kernel.ComponentEntity

_adjustDeferrals, _checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, isAtomic, isOpaque, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName

Methods inherited from class ptolemy.kernel.Entity

_addPort, _description, _exportMoMLContents, _removePort, _validateSettables, connectedPortList, connectedPorts, containedObjectsIterator, getAttribute, getPort, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts, setClassDefinition, uniqueName

Methods inherited from class ptolemy.kernel.InstantiableNamedObj

_setParent, exportMoML, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition

Methods inherited from class ptolemy.kernel.util.NamedObj

_addAttribute, _adjustOverride, _attachText, _cloneFixAttributeFields, _containedDecorators, _copyChangeRequestList, _debug, _debug, _debug, _debug, _debug, _executeChangeRequests, _getIndentPrefix, _isMoMLSuppressed, _markContentsDerived, _notifyHierarchyListenersAfterChange, _notifyHierarchyListenersBeforeChange, _propagateValue, _removeAttribute, _splitName, _stripNumericSuffix, addChangeListener, addDebugListener, addHierarchyListener, attributeDeleted, attributeList, attributeList, decorators, deepContains, depthInHierarchy, description, event, executeChangeRequests, exportMoML, exportMoML, exportMoML, exportMoML, exportMoMLPlain, getAttribute, getAttributes, getChangeListeners, getClassName, getDecoratorAttribute, getDecoratorAttributes, getDerivedLevel, getDerivedList, getDisplayName, getFullName, getModelErrorHandler, getName, getName, getSource, handleModelError, isDeferringChangeRequests, isOverridden, isPersistent, lazyContainedObjectsIterator, message, notifyOfNameChange, propagateValue, propagateValues, removeAttribute, removeChangeListener, removeDebugListener, removeHierarchyListener, requestChange, setClassName, setDeferringChangeRequests, setDerivedLevel, setDisplayName, setModelErrorHandler, setPersistent, setSource, sortContainedObjects, toplevel, toString, validateSettables, workspace

Methods inherited from class java.lang.Object

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

Methods inherited from interface ptolemy.kernel.util.Nameable

getContainer, getDisplayName, getFullName, getName, getName, setName

Methods inherited from interface ptolemy.actor.Actor

createReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortList

Methods inherited from interface ptolemy.actor.Executable

isFireFunctional, isStrict, iterate, postfire, prefire, stop, stopFire, terminate

Methods inherited from interface ptolemy.actor.Initializable

addInitializable, initialize, preinitialize, removeInitializable, wrapup

Methods inherited from interface ptolemy.kernel.util.Derivable

getDerivedLevel, getDerivedList, propagateValue

Field Detail

map

public PortParameter map

The occupancy grid map.

origin

public Parameter origin

A 2-d array denoting the map origin in x and y directions respectively.

resolution

public Parameter resolution

Map resolution in meters/pixel.

_decoratedObjects

protected java.util.List<NamedObj> _decoratedObjects

Cached list of decorated objects.

_decoratedObjectsVersion

protected long _decoratedObjectsVersion

Version for _decoratedObjects.

Constructor Detail

Map

public Map(CompositeEntity container,
           java.lang.String name)
    throws IllegalActionException,
           NameDuplicationException

Construct a StateSpaceModel with a name and a container. The container argument must not be null, or a NullPointerException will be thrown. This actor will use the workspace of the container for synchronization and version counts. If the name argument is null, then the name is set to the empty string. Increment the version of the workspace.

Parameters:

container - The container.

name - The name of this actor.

Throws:

IllegalActionException - If the container is incompatible with this actor.

NameDuplicationException - If the name coincides with an actor already in the container.

Method Detail

attributeChanged

public void attributeChanged(Attribute attribute)
                      throws IllegalActionException

Update the state accordingly.

Overrides:

attributeChanged in class NamedObj

Parameters:

attribute - The attribute that changed.

Throws:

IllegalActionException - If stateVariableNamest cannot be evaluated or cannot be converted to the output type, or if the superclass throws it.

clone

public java.lang.Object clone(Workspace workspace)
                       throws java.lang.CloneNotSupportedException

Clone the actor into the specified workspace.

Overrides:

clone in class TypedAtomicActor

Parameters:

workspace - The workspace for the new object.

Returns:

A new actor.

Throws:

java.lang.CloneNotSupportedException - If a derived class contains an attribute that cannot be cloned.

See Also:

NamedObj.exportMoML(Writer, int, String), NamedObj.setDeferringChangeRequests(boolean)

fire

public void fire()
          throws IllegalActionException

Description copied from class: AtomicActor

Do nothing. Derived classes override this method to define their primary run-time action.

Specified by:

fire in interface Executable

Overrides:

fire in class AtomicActor<TypedIOPort>

Throws:

IllegalActionException - Not thrown in this base class.

getOccupancyGrid

public int[][] getOccupancyGrid()

Return the occupancy grid.

Returns:

the occupancy grid

getOrigin

public double[] getOrigin()

Return the origin.

Returns:

the origin.

withinValidMapArea

public boolean withinValidMapArea(double xCoord,
                                  double yCoord)

Check if queried (x,y) position is within the valid map area.

Parameters:

xCoord - The x coordinate

yCoord - The y coordinate

Returns:

True if the position is within the valid map area.

description

public java.lang.String description()
                             throws IllegalActionException

Description copied from class: NamedObj

Return a full description of the object. This is accomplished by calling the description method with an argument for full detail. This method read-synchronizes on the workspace.

Specified by:

description in interface Nameable

Overrides:

description in class NamedObj

Returns:

A description of the object.

Throws:

IllegalActionException - Not thrown in this base class, but derived classes could throw an exception if there is a problem accessing subcomponents of this object.

See Also:

NamedObj.exportMoML(Writer, int, String)

createDecoratorAttributes

public DecoratorAttributes createDecoratorAttributes(NamedObj target)
                                              throws IllegalActionException

Description copied from interface: Decorator

Create and return the decorated attributes for the target NamedObj. Implementations of this method should create an Attribute that implements DecoratorAttributes. Implementations should populate that attribute with parameters that have appropriate default values.

This method is called if NamedObj.getDecoratorAttribute(Decorator, String) or NamedObj.getDecoratorAttributes(Decorator) is called, and the specified target object does not already have decorated attributes for this decorator.

The implementer of this method is responsible for ensuring consistency with the Decorator.decoratedObjects() method. Specifically, any object returned by Decorator.decoratedObjects(), when passed as an argument to this method, should not result in a null returned value. And conversely, any object passed to this method that is not in the list returned by decoratedObjects() should result in a null returned value.

Specified by:

createDecoratorAttributes in interface Decorator

Parameters:

target - The NamedObj that will be decorated.

Returns:

The decorated attributes for the target NamedObj, or null if the specified NamedObj is not decorated by this decorator.

Throws:

IllegalActionException - If the target cannot be determined to be decorated or not (e.g., a parameter cannot be evaluated).

decoratedObjects

public java.util.List<NamedObj> decoratedObjects()
                                          throws IllegalActionException

Return the decorated objects.

Specified by:

decoratedObjects in interface Decorator

Returns:

the decorated objects.

Throws:

IllegalActionException - If some object cannot be determined to be decorated or not (e.g., a parameter cannot be evaluated).

isGlobalDecorator

public boolean isGlobalDecorator()
                          throws IllegalActionException

Description copied from interface: Decorator

Return true if this decorator should decorate objects across opaque hierarchy boundaries. That is, return true to make this decorator visible to objects even within opaque composites.

Specified by:

isGlobalDecorator in interface Decorator

Returns:

True if decorator is global.

Throws:

IllegalActionException - If it cannot be determined whether this is global or not (e.g., a parameter cannot be evaluated).