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penemunxt
A SLAM (Simultaneous Localization and Mapping) implementation using LEGO Mindstorms NXT and leJOS (Java).
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Source path:
svn
/
trunk
/
PenemuNXTExplorerServer
/
src
/
org
/
penemunxt
/
projects
/
penemunxtexplorer
/
pc
/
map
/
processing
/
MapProcessors.java
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r299
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package org.penemunxt.projects.penemunxtexplorer.pc.map.processing;
import java.awt.*;
import java.awt.geom.AffineTransform;
import java.awt.geom.NoninvertibleTransformException;
import java.util.ArrayList;
import org.penemunxt.projects.penemunxtexplorer.RobotData;
public class MapProcessors {
ArrayList<IMapProcessor> list;
public ArrayList<IMapProcessor> getList() {
return list;
}
public void setList(ArrayList<IMapProcessor> list) {
this.list = list;
}
public MapProcessors(ArrayList<IMapProcessor> list) {
super();
this.list = list;
}
public void processData(ArrayList<RobotData> data, int maxIndex,
float scale, int centerX, int centerY, Graphics g) {
this.processData(data, scale, 0, centerX, centerY, g);
}
public void processData(ArrayList<RobotData> data, int maxIndex,
float scale, double rotate, int centerX, int centerY, Graphics g) {
if (data != null && data.size() > 0) {
ArrayList<RobotData> dataFiltered;
dataFiltered = new ArrayList<RobotData>(data.subList(0, Math.min(
maxIndex, data.size() - 1)));
this.processData(dataFiltered, scale, rotate, centerX, centerY, g);
}
}
public void processData(ArrayList<RobotData> data, float scale,
int centerX, int centerY, Graphics g) {
this.processData(data, scale, 0, centerX, centerY, g);
}
public void processData(ArrayList<RobotData> data, float scale,
double rotate, int centerX, int centerY, Graphics g) {
Graphics2D g2 = (Graphics2D) g;
g2.setTransform(MapUtilities.getMapTransform(centerX, centerY, scale, rotate));
if (list != null && list.size() > 0) {
for (IMapProcessor mapProcessor : this.getList()) {
mapProcessor.reset();
}
for (IMapProcessor mapProcessor : this.getList()) {
if (mapProcessor.isEnabled()) {
if(!mapProcessor.isAffectedByRotation()){
g2.rotate(-rotate);
}
mapProcessor.processData(data, g);
if(!mapProcessor.isAffectedByRotation()){
g2.rotate(rotate);
}
}
}
}
}
}
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Change log
r292
by peterf.se on Feb 13, 2010
Diff
[No log message]
Go to:
...nemuNXTDefaultMapProcessors.java
...pc/PenemuNXTExplorerControl.java
...PenemuNXTExplorerDataViewer.java
...ction/PositionDataProcessor.java
.../connection/RobotConnection.java
...rer/pc/map/MapVisulaisation.java
...processing/MapProcessorMain.java
...ap/processing/MapProcessors.java
...rocessing/MapProcessorsList.java
...map/processing/MapUtilities.java
...rocessors/MapBackgroundGrid.java
...ng/processors/MapCurrentPos.java
...ing/processors/MapFindLines.java
...ocessors/MapObjectPositions.java
...ing/processors/MapTargetPos.java
...pc/map/timeline/MapTimeline.java
.../timeline/MapTimelinePlayer.java
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Older revisions
r205
by peterf.se on Dec 31, 2009
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r202
by peterf.se on Dec 10, 2009
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r193
by peterf.se on Dec 6, 2009
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