Page 287 - The Definitive Guide to Building Java Robots

Preston_5564C07.fm Page 268 Monday, September 26, 2005 5:38 AM

268 CHAPTER 7 ■ NAVIGATION

// get scaled start point
// output will be percentage from measured
public Point getScaledPoint(int x,int y) {
double totalSize = size * 2;
int x2 = (int)(x/totalSize*100);
int y2 = (int)(y/totalSize*100);
return new Point(x2,y2);
}

// returns in actual inches
public double getScaledMagnitude(double m) {
double scale = size * 2 / 100.0;
return m*scale;
}

//get points by name
public NavPoint getPointByName(String name) {
NavPoint pt = null;
for (int x=0; x<wayPoints.size() ; x++) {
NavPoint tmp = (NavPoint)wayPoints.get(x);
if (tmp.name.equalsIgnoreCase(name)){
pt = tmp;
break;
}
}
return pt;
}

public ArrayList getWayPoints() {
return wayPoints;
}

public int getSize() {
return size;
}
public void setSize(int size) {
this.size = size;
}
public int[] getCharacteristic() {
return characteristic;
}
public void setCharacteristic(int[] characteristic) {
this.characteristic = characteristic;
}
}