/**
* Reads a single sensorvalue. Called by readSensorGroup
*
* @param x read at this x-position
* @param y read at this y-position
* @param z read at this z-position
* @return SensorValue The read SensorValue
*/
public SensorValue readSingleSensor(float x, float y, float z, double angle) {
// Send Position to robot
robotGoTo(new Point3Dim(x, y, z), angle);
SensorValue s = null;
// Wait for response from robot, time out if no response
if (!waitForResponse()) {
return null;
}
s = readValueParser();
System.out.println("Read value: " + s.getValue());
inData = null; // reset indata after having read it
return s;
}
/**
* Draws a sphere
*
* @param sensVal the sensorvalue to be represented in the GraphicsPane
*/
public void drawSphere(SensorValue sensVal) {
Appearance ap = new Appearance();
ap.setTransparencyAttributes(
new TransparencyAttributes(TransparencyAttributes.NICEST, transparency));
float a = sensVal.getValue();
ColoringAttributes color =
new ColoringAttributes(new Color3f(a / 255, 0.0f, (1 - (a / 255))), 0);
ap.setColoringAttributes(color);
SensorRepresentation sphere = new SensorRepresentation(0.2f, 100, ap, sensVal);
sensorRepList.add(sphere);
TransformGroup transformGrp = new TransformGroup();
Transform3D transform = new Transform3D();
transform.setTranslation(new Vector3f(sensVal.getX(), sensVal.getY(), sensVal.getZ()));
transformGrp.setTransform(transform);
transformGrp.addChild(sphere);
this.addChild(transformGrp);
}