Package xbot.common.math

Class PurePursuitTest

java.lang.Object

xbot.common.injection.BaseWPITest

xbot.common.math.PurePursuitTest

public class PurePursuitTest
extends BaseWPITest

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	PurePursuitTest.AsyncLinearIntervalJob
static class	PurePursuitTest.PursuitEnvironmentState

Field Summary

Fields

Modifier and Type	Field	Description
protected PurePursuitTest.AsyncLinearIntervalJob	asyncJob
protected Timer	asyncTimer
protected ConfigurablePurePursuitCommand	command
protected double	periodMultiplier

Fields inherited from class xbot.common.injection.BaseWPITest

pf, propertyFactory, timer

Constructor Summary

Constructors

Constructor	Description
PurePursuitTest(List<RabbitPoint> points)

Method Summary

Modifier and Type	Method	Description
protected BaseComponent	createDaggerComponent()	Returns the BaseComponent instance used for dependency injection
protected PurePursuitTestComponent	getInjectorComponent()
void	setAsAsync(PurePursuitTest.AsyncLinearIntervalJob asyncIntervalJob)
void	setAsyncPeriodMultiplier(double newMultiplier)
void	setPoints()
void	startAsyncTimer()
void	stopTestEnv()
void	vizRun()

Methods inherited from class xbot.common.injection.BaseWPITest

setUp

Methods inherited from class java.lang.Object

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

Field Details

asyncTimer

protected Timer asyncTimer

asyncJob

protected PurePursuitTest.AsyncLinearIntervalJob asyncJob

periodMultiplier

protected double periodMultiplier

command

protected ConfigurablePurePursuitCommand command

Constructor Details

PurePursuitTest

public PurePursuitTest(List<RabbitPoint> points)

Method Details

createDaggerComponent

protected BaseComponent createDaggerComponent()

Description copied from class: BaseWPITest

Returns the BaseComponent instance used for dependency injection

Specified by:

createDaggerComponent in class BaseWPITest

getInjectorComponent

protected PurePursuitTestComponent getInjectorComponent()

Overrides:

getInjectorComponent in class BaseWPITest

setAsAsync

public void setAsAsync(PurePursuitTest.AsyncLinearIntervalJob asyncIntervalJob)

setAsyncPeriodMultiplier

public void setAsyncPeriodMultiplier(double newMultiplier)

vizRun

public void vizRun()

setPoints

public void setPoints()

startAsyncTimer

public void startAsyncTimer()

stopTestEnv

public void stopTestEnv()