magma.agent.perception.impl.VisibleObjectPerceptor.java Source code

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Here is the source code for magma.agent.perception.impl.VisibleObjectPerceptor.java

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/* Copyright 2009 Hochschule Offenburg
 * Klaus Dorer, Mathias Ehret, Stefan Glaser, Thomas Huber,
 * Simon Raffeiner, Srinivasa Ragavan, Thomas Rinklin,
 * Joachim Schilling, Ingo Schindler, Rajit Shahi
 *
 * This file is part of magmaOffenburg.
 *
 * magmaOffenburg is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * magmaOffenburg is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with magmaOffenburg. If not, see <http://www.gnu.org/licenses/>.
 */
package magma.agent.perception.impl;

import magma.agent.perception.IPerceptor;
import magma.agent.perception.IVisibleObjectPerceptor;

import org.apache.commons.math.geometry.Vector3D;

/**
 * Visible Object
 * 
 * @author Simon Raffeiner
 * 
 */
public class VisibleObjectPerceptor extends Perceptor implements IVisibleObjectPerceptor {
    // Object position
    protected Vector3D position;

    /**
     * Default constructor
     * 
     * @param name Object name
     */
    public VisibleObjectPerceptor(String name) {
        this(name, new Vector3D());
    }

    /**
     * Assignment constructor
     * @param name Object name
     * @param position Object Position
     */
    public VisibleObjectPerceptor(String name, Vector3D position) {
        super(name);
        this.position = position;
    }

    @Override
    public Vector3D getPosition() {
        return position;
    }

    @Override
    public void setPosition(Vector3D position) {
        this.position = position;
    }

    @Override
    public double getDistance() {
        return position.getNorm();
    }

    @Override
    public double getHorizontalAngle() {
        return position.getAlpha();
    }

    @Override
    public double getHorizontalAngleDeg() {
        return Math.toDegrees(position.getAlpha());
    }

    @Override
    public double getLatitudeAngle() {
        return position.getDelta();
    }

    @Override
    public double getLatitudeAngleDeg() {
        return Math.toDegrees(position.getDelta());
    }

    @Override
    public void assign(IPerceptor source) {
        if (source instanceof VisibleObjectPerceptor) {
            VisibleObjectPerceptor input = (VisibleObjectPerceptor) source;

            position = input.position;
        }
    }
}