A B C D E F G H I K L M N O P R S T U W X Y Z

A

add(KoalaVector) - Method in class koala.KoalaVector

applyBlueThreshold(int, double, double) - Method in class koala.KoalaImage

Apply a threshold to pick out the blue pixels.

applyGreenThreshold(int, double, double) - Method in class koala.KoalaImage

Apply a threshold to pick out the green pixels.

applyRedThreshold(int, double, double) - Method in class koala.KoalaImage

Apply a threshold to pick out the red pixels.

applyThreshold(Color, int[]) - Method in class koala.KoalaImage

Apply a threshold to pick out an arbitrary colour.

B

BLACK - Static variable in class koala.KoalaImage

BLUE - Static variable in class koala.KoalaImage

bluePart(int) - Static method in class koala.KoalaImage

Get the blue component of an RGB pixel.

C

calibrate() - Method in class koala.KatanaArm

Calibrate the arm.

closeGripper() - Method in class koala.KatanaArm

Close the arm's gripper.

convertToDistance(int) - Static method in class koala.KoalaSensorReading

Convert a single short-range proximity reading to a distance in mm.

convertToDistances() - Method in class koala.KoalaSensorReading

Convert the whole reading to approximate distances in mm.

createFromMagAndDir(double, double) - Static method in class koala.KoalaVector

D

direction() - Method in class koala.KoalaVector

disconnect() - Method in class koala.KatanaArm

Disconnect from the arm.

disconnect() - Method in class koala.Koala

Disconnect from the Koala hardware.

E

equals(Object) - Method in class koala.KoalaVector

F

finalize() - Method in class koala.KatanaArm

finalize() - Method in class koala.Koala

G

getAngularVelocity() - Method in class koala.Koala

Compute the angular velocity based on the current wheel speeds, in degrees per second.

getBatteryCharge() - Method in class koala.Koala

Get the battery's charge in mAh.

getBatteryCharge() - Method in interface koala.KoalaSensors

getBatteryTemperature() - Method in class koala.Koala

Get the battery's temperature in degrees Celcius.

getBatteryTemperature() - Method in interface koala.KoalaSensors

getBatteryTimeLeft() - Method in class koala.Koala

Estimate the time left (in minutes) before the battery is exhausted, based on the consumption current and the battery charge.

getBatteryTimeLeft() - Method in interface koala.KoalaSensors

getBatteryVoltage() - Method in class koala.Koala

Get the battery's voltage in mV.

getBatteryVoltage() - Method in interface koala.KoalaSensors

getBlobs(Color, int, int) - Method in class koala.KoalaImage

Label blobs (segments of contiguous colour) in the image of the specified colour and minimum size (blobThreshold).

getBlueHistogram() - Method in class koala.KoalaImage

Get the histogram of blue pixel values.

getConsumptionCurrent() - Method in class koala.Koala

Get the consumption current in mA.

getConsumptionCurrent() - Method in interface koala.KoalaSensors

getGreenHistogram() - Method in class koala.KoalaImage

Get the histogram of green pixel values.

getGripperPosition() - Method in class koala.KatanaArm

Get the gripper's position.

getImage() - Method in interface koala.KoalaCamera

getImage() - Method in class koala.KoreCamera

Read a frame from the camera as an array of integers, where each element represents one pixel encoded in RGB.

getInstance() - Static method in class koala.KatanaArm

Get a reference to the arm.

getInstance() - Static method in class koala.Koala

Get a reference to the robot.

getInstance(String) - Static method in class koala.Koala

Get a reference to the robot.

getInstance() - Static method in class koala.KoreCamera

Get a reference to the KoalaCamera.

getLargestBlob(Color, int) - Method in class koala.KoalaImage

Get the single largest blob in the image of the given colour and minimum size.

getLeftMotorCurrent() - Method in class koala.Koala

Get the consumption current of the left motor in mA.

getLeftMotorCurrent() - Method in class koala.KoalaMotorController

getLeftMotorCurrent() - Method in interface koala.KoalaMotors

getLeftMotorPosition() - Method in class koala.Koala

Get the current position of the left motor.

getLeftMotorPosition() - Method in class koala.KoalaMotorController

getLeftMotorPosition() - Method in interface koala.KoalaMotors

getLeftMotorSpeed() - Method in class koala.Koala

Get the left motor's speed.

getLeftMotorSpeed() - Method in class koala.KoalaMotorController

getLeftMotorSpeed() - Method in interface koala.KoalaMotors

getLocation() - Method in class koala.KatanaArm

Get the location of the end of the gripper in (ideal) 3D space.

getMaximumSpeed() - Method in class koala.KatanaArm

Get the maximum motor speed.

getMotorPosition(int) - Method in class koala.KatanaArm

Get the position of a particular motor in terms of its rotary encoder.

getPanMotorLimits() - Method in class koala.KoreCamera

Runs an automated movement which detects the left and right positions which limit how far the pan motor can rotate.

getPanMotorLimits() - Method in interface koala.KoreMotors

getPanMotorPosition() - Method in class koala.KoreCamera

Get the position of the pan motor.

getPanMotorPosition() - Method in interface koala.KoreMotors

getRadiusOfRotation() - Method in class koala.Koala

Get the radius of the curve the robot is currently moving along, in millimetres.

getRedHistogram() - Method in class koala.KoalaImage

Get the histogram of red pixel values.

getRightMotorCurrent() - Method in class koala.Koala

Get the consumption current of the right motor in mA.

getRightMotorCurrent() - Method in class koala.KoalaMotorController

getRightMotorCurrent() - Method in interface koala.KoalaMotors

getRightMotorPosition() - Method in class koala.Koala

Get the current position of the right motor.

getRightMotorPosition() - Method in class koala.KoalaMotorController

getRightMotorPosition() - Method in interface koala.KoalaMotors

getRightMotorSpeed() - Method in class koala.Koala

Get the right motor's speed.

getRightMotorSpeed() - Method in class koala.KoalaMotorController

getRightMotorSpeed() - Method in interface koala.KoalaMotors

getRotationTo(KoalaLocation) - Method in class koala.KoalaLocation

Compute the (minimum) angle by which the robot needs to turn to face the target location.

getSoftwareVersion() - Method in class koala.Koala

Request the Koala's OS and protocol version.

getSoftwareVersion() - Method in interface koala.KoalaSensors

getSpotPosition(Color) - Method in interface koala.KoalaCamera

getSpotPosition(Color, int[]) - Method in interface koala.KoalaCamera

getSpotPosition(Color, int[]) - Method in class koala.KoreCamera

Find a spot of the specified colour in the current camera view.

getSpotPosition(Color) - Method in class koala.KoreCamera

Find a spot of the specified colour in the current camera view.

getSpotPosition(boolean) - Method in class koala.KoreCamera

Find a red or green spot in the current camera view.

getTemperature() - Method in class koala.Koala

Get the robot's ambient temperature in degrees Celcius.

getTemperature() - Method in interface koala.KoalaSensors

getTiltMotorLimits() - Method in class koala.KoreCamera

Runs an automated movement which detects the up and down positions which limit how far the tilt motor can rotate.

getTiltMotorLimits() - Method in interface koala.KoreMotors

getTiltMotorPosition() - Method in class koala.KoreCamera

Get the position of the tilt motor.

getTiltMotorPosition() - Method in interface koala.KoreMotors

getVectorTo(KoalaLocation) - Method in class koala.KoalaLocation

Computes the vector drawn from this location to the target.

GREEN - Static variable in class koala.KoalaImage

greenPart(int) - Static method in class koala.KoalaImage

Get the green component of an RGB pixel.

gripperClosed() - Method in class koala.KatanaArm

Returns true only if the gripper is fully closed.

grippingSomething() - Method in class koala.KatanaArm

Observes the gripper sensors to infer if anything is being gripped.

H

hasLongRangeSensors() - Method in class koala.Koala

Determine if this Koala has long-range proximity sensors.

hasLongRangeSensors() - Method in interface koala.KoalaLongRangeSensors

heading - Variable in class koala.KoalaLocation

height - Variable in class koala.KoalaImage

I

imageX - Variable in class koala.KoalaLocation

imageY - Variable in class koala.KoalaLocation

INFRONT - Static variable in class koala.KatanaArm

integerX() - Method in class koala.KoalaVector

integerY() - Method in class koala.KoalaVector

isAbnormal() - Method in class koala.KoalaImage

Heuristic to detect abnormal images.

isInitialised() - Method in class koala.Koala

Check the robot is initialised.

isInitialised() - Method in class koala.KoreCamera

Check the motors have initialised.

isPanMotorBlocked() - Method in class koala.KoreCamera

Check if the pan motor has reached its physical limits.

isPanMotorBlocked() - Method in interface koala.KoreMotors

isSafeForGripping() - Method in class koala.KatanaLocation

Returns true if the location is a safe place for picking up objects from.

isTiltMotorBlocked() - Method in class koala.KoreCamera

Check if the tilt motor has reached its physical limits.

isTiltMotorBlocked() - Method in interface koala.KoreMotors

K

KatanaArm - Class in koala

Class which provides control of the Katana robot arm, using jkatana.dll.

KatanaLocation - Class in koala

Simple representation of a point in 3D space.

KatanaLocation(double, double, double) - Constructor for class koala.KatanaLocation

KatanaOutOfRangeException - Exception in koala

Thrown if the robot is asked to move to a position which it physically cannot get to.

KatanaOutOfRangeException() - Constructor for exception koala.KatanaOutOfRangeException

koala - package koala

Koala - Class in koala

Class used to control Koala functionality either from the Korebot, using JNI and libjkoala.so, or from any platform using a direct serial connection (for which the RXTX library is required).

KoalaCamera - Interface in koala

Interface comprising methods to acquire camera images on the robot.

KoalaImage - Class in koala

Class which encapsulates disturbingly common image operations.

KoalaImage(Image) - Constructor for class koala.KoalaImage

Create a KoalaImage from a normal Image.

KoalaImage(int[], int, int) - Constructor for class koala.KoalaImage

Create a KoalaImage from the specified pixel array.

KoalaImage.Blob - Class in koala

KoalaImage.Blob(int, int, int) - Constructor for class koala.KoalaImage.Blob

KoalaLocation - Class in koala

Represents a 2 dimensional real-world location.

KoalaLocation() - Constructor for class koala.KoalaLocation

KoalaLocation(int, int) - Constructor for class koala.KoalaLocation

KoalaLocation(int, int, int) - Constructor for class koala.KoalaLocation

KoalaLongRangeSensors - Interface in koala

Interface comprising functions pertaining to the Koala's long range infra-red sensors.

KoalaMotorController - Class in koala

Makes motor control smoother by gradually changing speed when setSpeed() is called.

KoalaMotorController(KoalaMotors) - Constructor for class koala.KoalaMotorController

KoalaMotorLimits - Class in koala

Class which stores the minimum and maximum positions of motors on the Koala.

KoalaMotorLimits(int, int) - Constructor for class koala.KoalaMotorLimits

KoalaMotors - Interface in koala

Interface comprising the Koala method calls that relate to motors.

KoalaSensorReading - Class in koala

Class which stores a sensor reading, comprising values from each of the 16 sensors.

KoalaSensorReading() - Constructor for class koala.KoalaSensorReading

KoalaSensors - Interface in koala

Interface comprising the Koala method calls that relate to sensors and some miscellaneous ones.

KoalaVector - Class in koala

Represents a 2D vector, which is a line with magnitude and direction.

KoalaVector(double, double) - Constructor for class koala.KoalaVector

KoreCamera - Class in koala

Class to control the camera (motors) of the Koala/Korebot.

KoreMotors - Interface in koala

Interface comprising the camera motor (KoreMotorLE) method calls.

L

LEFT - Static variable in class koala.KatanaArm

leftMotorError() - Method in class koala.Koala

Returns true if the motion controller reports a speed or position error on the left motor.

leftMotorError() - Method in class koala.KoalaMotorController

leftMotorError() - Method in interface koala.KoalaMotors

leftSensors - Variable in class koala.KoalaSensorReading

M

magnitude() - Method in class koala.KoalaVector

main(String[]) - Static method in class koala.KatanaArm

main(String[]) - Static method in class koala.KoalaVector

max - Variable in class koala.KoalaMotorLimits

min - Variable in class koala.KoalaMotorLimits

moveForward(double) - Method in class koala.Koala

Move forward the specified distance of mm.

moveForward(double) - Method in class koala.KoalaMotorController

moveForward(double) - Method in interface koala.KoalaMotors

moveTo(KatanaLocation) - Method in class koala.KatanaArm

Move the location of the end of the gripper.

moveToRestingPosition() - Method in class koala.KatanaArm

Move the robot to the position in which it is stable if the power is switched off.

moveToWithoutBlocking(KatanaLocation) - Method in class koala.KatanaArm

N

normalise() - Method in class koala.KoalaVector

O

openGripper() - Method in class koala.KatanaArm

Open the arm's gripper.

P

pickUp() - Method in class koala.KatanaArm

Pick up an object from the front of the robot (INFRONT).

pixels - Variable in class koala.KoalaImage

printFP(double) - Method in class koala.Koala

Prints a double to the standard output.

R

readAmbientSensors() - Method in class koala.Koala

Read the 16 infra-red ambient light sensors.

readAmbientSensors() - Method in interface koala.KoalaSensors

readAnalogueInput(int) - Method in class koala.Koala

Read one of the analogue inputs.

readAnalogueInput(int) - Method in interface koala.KoalaSensors

readDigitalInput(int) - Method in class koala.Koala

Read one of the digital inputs.

readDigitalInput(int) - Method in interface koala.KoalaSensors

readForceSensors() - Method in class koala.KatanaArm

Read the 4 force sensors.

readFrontLeftLRSensor() - Method in class koala.Koala

Read the front left long-range proximity sensor.

readFrontLeftLRSensor() - Method in interface koala.KoalaLongRangeSensors

readFrontRightLRSensor() - Method in class koala.Koala

Read the front right long-range proximity sensor.

readFrontRightLRSensor() - Method in interface koala.KoalaLongRangeSensors

readLeftSideLRSensor() - Method in class koala.Koala

Read the left side long-range proximity sensor.

readLeftSideLRSensor() - Method in interface koala.KoalaLongRangeSensors

readLongRangeSensors() - Method in class koala.Koala

Read the long-range infra-red proximity sensors.

readLongRangeSensors() - Method in interface koala.KoalaLongRangeSensors

readProximitySensors() - Method in class koala.KatanaArm

Read the 9 infra-red proximity sensors.

readProximitySensors() - Method in class koala.Koala

Read the 16 infra-red proximity (reflected light) sensors.

readProximitySensors() - Method in interface koala.KoalaSensors

readRightSideLRSensor() - Method in class koala.Koala

Read the right side long-range proximity sensor.

readRightSideLRSensor() - Method in interface koala.KoalaLongRangeSensors

readSensors() - Method in class koala.KatanaArm

Read the 16 sensors on the robot's gripper.

RED - Static variable in class koala.KoalaImage

redPart(int) - Static method in class koala.KoalaImage

Get the red component of an RGB pixel.

reliability() - Method in class koala.KoalaLocation

Describes the reliability of the location reading (when derived from a camera).

RIGHT - Static variable in class koala.KatanaArm

rightMotorError() - Method in class koala.Koala

Returns true if the motion controller reports a speed or position error on the right motor.

rightMotorError() - Method in class koala.KoalaMotorController

rightMotorError() - Method in interface koala.KoalaMotors

rightSensors - Variable in class koala.KoalaSensorReading

rotate(double) - Method in class koala.Koala

Rotate (on the spot) by the specified angle in degrees.

rotate(int, double) - Method in class koala.Koala

Move along an arc specified by the radius (millimetres) and angle (degrees).

rotate(double) - Method in class koala.KoalaMotorController

rotate(double) - Method in interface koala.KoalaMotors

rotateAxes(KatanaLocation) - Static method in class koala.KatanaArm

Converts a location from "ideal" coodinate space to that of the arm.

rotateMotorTo(int, int) - Method in class koala.KatanaArm

Rotate the specified motor (0-4) to the specified angle (in degrees).

rotateWristTo(int) - Method in class koala.KatanaArm

Rotate the wrist to the specified angle (in degrees).

S

scale(double) - Method in class koala.KoalaVector

setDigitalOutput(int, int) - Method in class koala.Koala

Set one of the digital outputs.

setDigitalOutput(int, int) - Method in interface koala.KoalaSensors

setLEDState(int, int) - Method in class koala.Koala

Change the state of an LED.

setLEDState(int, int) - Method in interface koala.KoalaSensors

setMaximumSpeed(double) - Method in class koala.KatanaArm

Set the maximum motor speed.

setMotorPosition(int, int) - Method in class koala.Koala

Set the position of the motors (their rotational position).

setMotorPosition(int, int) - Method in class koala.KoalaMotorController

setMotorPosition(int, int) - Method in interface koala.KoalaMotors

setMotorPosition(int, int) - Method in interface koala.KoalaSensors

setMotorPosition(int, int) - Method in class koala.KoreCamera

Set the position of the camera motors.

setMotorPosition(int, int) - Method in interface koala.KoreMotors

setSpeed(int, int) - Method in class koala.Koala

Set the motor speed.

setSpeed(int, double) - Method in class koala.Koala

Set the wheel speeds given a radius (millimetres) and a desired angular velocity (degrees per second).

setSpeed(int, int) - Method in class koala.KoalaMotorController

setSpeed(int, int) - Method in interface koala.KoalaMotors

setSpeed(int, int) - Method in class koala.KoreCamera

Set the speed of the camera motors.

setSpeed(int, int) - Method in interface koala.KoreMotors

size - Variable in class koala.KoalaImage.Blob

subtract(KoalaVector) - Method in class koala.KoalaVector

T

toImage() - Method in class koala.KoalaImage

Convert this to a normal Image.

TOP - Static variable in class koala.KatanaArm

toString() - Method in class koala.KatanaLocation

toString() - Method in class koala.KoalaLocation

toString() - Method in class koala.KoalaVector

turnLEDOff(int) - Method in class koala.Koala

Turn an LED off.

turnLEDOff(int) - Method in interface koala.KoalaSensors

turnLEDOn(int) - Method in class koala.Koala

Turn an LED on.

turnLEDOn(int) - Method in interface koala.KoalaSensors

U

unblock() - Method in class koala.KatanaArm

Unblock the robot after a crash (stopping due to impact with something).

UNKNOWN_HEADING - Static variable in class koala.KoalaLocation

W

WHEELRADIUS - Variable in class koala.Koala

WHITE - Static variable in class koala.KoalaImage

width - Variable in class koala.KoalaImage

X

x - Variable in class koala.KatanaLocation

x - Variable in class koala.KoalaLocation

x - Variable in class koala.KoalaVector

Y

y - Variable in class koala.KatanaLocation

y - Variable in class koala.KoalaLocation

y - Variable in class koala.KoalaVector

Z

z - Variable in class koala.KatanaLocation

A B C D E F G H I K L M N O P R S T U W X Y Z