9.2 Java API
The following tables describes the Java classes and their methods.
| import com.cyberbotics.webots.controller.Accelerometer; |
| public class Accelerometer extends Device { |
| public void enable(int ms); |
| public void disable(); |
| int getSamplingPeriod(); |
| public double[] getValues(); |
| } |
| import com.cyberbotics.webots.controller.Camera; |
| public class Camera extends Device { |
| public final static int COLOR, RANGE_FINDER, BOTH; |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double getFov(); |
| public void setFov(double fov); |
| public int getWidth(); |
| public int getHeight(); |
| public double getNear(); |
| public double getMaxRange(); |
| public int getType(); |
| public int[] getImage(); |
| public static int imageGetRed(int[] image, int width, int x, int y); |
| public static int imageGetGreen(int[] image, int width, int x, int y); |
| public static int imageGetBlue(int[] image, int width, int x, int y); |
| public static int imageGetGrey(int[] image, int width, int x, int y); |
| public static int pixelGetRed(int pixel); |
| public static int pixelGetGreen(int pixel); |
| public static int pixelGetBlue(int pixel); |
| public static int pixelGetGrey(int pixel); |
| public float[] getRangeImage(); |
| public static float rangeImageGetDepth(float[] image, |
| int width, int x, int y); |
| public int saveImage(String filename, int quality); |
| } |
| import com.cyberbotics.webots.controller.Compass; |
| public class Compass extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double[] getValues(); |
| } |
| import com.cyberbotics.webots.controller.Connector; |
| public class Connector extends Device { |
| public void enablePresence(int ms); |
| public void disablePresence(); |
| public int getPresence(); |
| public void lock(); |
| public void unlock(); |
| } |
| import com.cyberbotics.webots.controller.Device; |
| public class Device { |
| public String getName(); |
| public int getType(); |
| } |
| import com.cyberbotics.webots.controller.DifferentialWheels; |
| public class DifferentialWheels extends Robot { |
| public DifferentialWheels(); |
| protected void finalize(); |
| public void setSpeed(double left, double right); |
| public void enableEncoders(int ms); |
| public void disableEncoders(); |
| public int getEncodersSamplingPeriod(); |
| public double getLeftEncoder(); |
| public double getRightEncoder(); |
| public void setEncoders(double left, double right); |
| } |
| import com.cyberbotics.webots.controller.Display; |
| public class Display extends Device { |
| public final static int RGB, RGBA, ARGB, BGRA; |
| public int getWidth(); |
| public int getHeight(); |
| public void setColor(int color); |
| public void setAlpha(double alpha); |
| public void setOpacity(double opacity); |
| public void drawPixel(int x1, int y1); |
| public void drawLine(int x1, int y1, int x2, int y2); |
| public void drawRectangle(int x, int y, int width, int height); |
| public void drawOval(int cx, int cy, int a, int b); |
| public void drawPolygon(int[] x, int[] y); |
| public void drawText(String txt, int x, int y); |
| public void fillRectangle(int x, int y, int width, int height); |
| public void fillOval(int cx, int cy, int a, int b); |
| public void fillPolygon(int[] x, int[] y); |
| public ImageRef imageCopy(int x, int y, int width, int height); |
| public void imagePaste(ImageRef ir, int x, int y); |
| public ImageRef imageLoad(String filename); |
| public ImageRef imageNew(int width, int height, int[] data, int format); |
| public void imageSave(ImageRef ir, String filename); |
| public void imageDelete(ImageRef ir); |
| } |
| import com.cyberbotics.webots.controller.DistanceSensor; |
| public class DistanceSensor extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double getValue(); |
| } |
| import com.cyberbotics.webots.controller.Emitter; |
| public class Emitter extends Device { |
| public final static int CHANNEL_BROADCAST; |
| public int send(byte[] data); |
| public int getChannel(); |
| public void setChannel(int channel); |
| public double getRange(); |
| public void setRange(double range); |
| public int getBufferSize(); |
| } |
| import com.cyberbotics.webots.controller.Field; |
| public class Field { |
| public final static int SF_BOOL, SF_INT32, SF_FLOAT, |
| SF_VEC2F, SF_VEC3F, SF_ROTATION, SF_COLOR, SF_STRING, |
| SF_NODE, MF, MF_INT32, MF_FLOAT, MF_VEC2F, MF_VEC3F, |
| MF_COLOR, MF_STRING, MF_NODE; |
| public int getType(); |
| public String getTypeName(); |
| public int getCount(); |
| public bool getSFBool(); |
| public int getSFInt32(); |
| public double getSFFloat(); |
| public double[] getSFVec2f(); |
| public double[] getSFVec3f(); |
| public double[] getSFRotation(); |
| public double[] getSFColor(); |
| public String getSFString(); |
| public Node getSFNode(); |
| public int getMFInt32(int index); |
| public double getMFFloat(int index); |
| public double[] getMFVec2f(int index); |
| public double[] getMFVec3f(int index); |
| public double[] getMFColor(int index); |
| public String getMFString(int index); |
| public Node getMFNode(int index); |
| public void setSFBool(bool value); |
| public void setSFInt32(int value); |
| public void setSFFloat(double value); |
| public void setSFVec2f(double values[2]); |
| public void setSFVec3f(double values[3]); |
| public void setSFRotation(double values[4]); |
| public void setSFColor(double values[3]); |
| public void setSFString(String value); |
| public void setMFInt32(int index, int value); |
| public void setMFFloat(int index, double value); |
| public void setMFVec2f(int index, double values[2]); |
| public void setMFVec3f(int index, double values[3]); |
| public void setMFColor(int index, double values[3]); |
| public void setMFString(int index, String value); |
| public void importMFNode(int position, String filename); |
| } |
| import com.cyberbotics.webots.controller.GPS; |
| public class GPS extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double[] getValues(); |
| } |
| import com.cyberbotics.webots.controller.Gyro; |
| public class Gyro extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double[] getValues(); |
| } |
| import com.cyberbotics.webots.controller.ImageRef; |
| public class ImageRef { |
| } |
| import com.cyberbotics.webots.controller.InertialUnit; |
| public class InertialUnit extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double[] getRollPitchYaw(); |
| } |
| import com.cyberbotics.webots.controller.LED; |
| public class LED extends Device { |
| public void set(int state); |
| } |
| import com.cyberbotics.webots.controller.LightSensor; |
| public class LightSensor extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double getValue(); |
| } |
| import com.cyberbotics.webots.controller.Motion; |
| public class Motion { |
| public Motion(String fileName); |
| protected void finalize(); |
| public bool isValid(); |
| public void play(); |
| public void stop(); |
| public void setLoop(bool loop); |
| public void setReverse(bool reverse); |
| public bool isOver(); |
| public int getDuration(); |
| public int getTime(); |
| public void setTime(int time); |
| } |
| import com.cyberbotics.webots.controller.Node; |
| public class Node { |
| public final static int NO_NODE, APPEARANCE, BACKGROUND, |
| BOX, COLOR, CONE, COORDINATE, CYLINDER, DIRECTIONAL_LIGHT, |
| ELEVATION_GRID, EXTRUSION, FOG, GROUP, IMAGE_TEXTURE, |
| INDEXED_FACE_SET, INDEXED_LINE_SET, MATERIAL, POINT_LIGHT, |
| SHAPE, SPHERE, SPOT_LIGHT, SWITCH, TEXTURE_COORDINATE, |
| TEXTURE_TRANSFORM, TRANSFORM, VIEWPOINT, WORLD_INFO, |
| CAPSULE, PLANE, ROBOT, SUPERVISOR, DIFFERENTIAL_WHEELS, SOLID, |
| PHYSICS, CAMER_ZOOM, CHARGER, DAMPING, |
| CONTACT_PROPERTIES, ACCELEROMETER, CAMERA, COMPASS, |
| CONNECTOR, DISPLAY, DISTANCE_SENSOR, EMITTER, GPS, GYRO, LED, |
| LIGHT_SENSOR, MICROPHONE, PEN, RADIO, RECEIVER, SERVO, |
| SPEAKER, TOUCH_SENSOR; |
| public int getType(); |
| public String getTypeName(); |
| public Field getField(String fieldName); |
| public double[] getPosition(); |
| public double[] getOrientation(); |
| } |
| import com.cyberbotics.webots.controller.Pen; |
| public class Pen extends Device { |
| public void write(bool write); |
| public void setInkColor(int color, double density); |
| } |
| import com.cyberbotics.webots.controller.Receiver; |
| public class Receiver extends Device { |
| public final static int CHANNEL_BROADCAST; |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public int getQueueLength(); |
| public void nextPacket(); |
| public byte[] getData(); |
| public int getDataSize(); |
| public double getSignalStrength(); |
| public double[] getEmitterDirection(); |
| public void setChannel(int channel); |
| public int getChannel(); |
| } |
| import com.cyberbotics.webots.controller.Robot; |
| public class Robot { |
| public final static int MODE_SIMULATION, |
| MODE_CROSS_COMPILATION, MODE_REMOTE_CONTROL; |
| public final static int KEYBOARD_END, KEYBOARD_HOME, |
| KEYBOARD_LEFT, KEYBOARD_UP, KEYBOARD_RIGHT, |
| KEYBOARD_DOWN, KEYBOARD_PAGEUP, KEYBOARD_PAGEDOWN, |
| KEYBOARD_NUMPAD_HOME, KEYBOARD_NUMPAD_LEFT, |
| KEYBOARD_NUMPAD_UP, KEYBOARD_NUMPAD_RIGHT, |
| KEYBOARD_NUMPAD_DOWN, KEYBOARD_NUMPAD_END, |
| KEYBOARD_KEY, KEYBOARD_SHIFT, |
| KEYBOARD_CONTROL, KEYBOARD_ALT; |
| public Robot(); |
| protected void finalize(); |
| public int step(int ms); |
| public Accelerometer getAccelerometer(String name); |
| public Camera getCamera(String name); |
| public Compass getCompass(String name); |
| public Connector getConnector(String name); |
| public Display getDisplay(String name); |
| public DistanceSensor getDistanceSensor(String name); |
| public Emitter getEmitter(String name); |
| public GPS getGPS(String name); |
| public Gyro getGyro(String name); |
| public InertialUnit getInertialUnit(String name); |
| public LED getLED(String name); |
| public LightSensor getLightSensor(String name); |
| public Pen getPen(String name); |
| public Receiver getReceiver(String name); |
| public Servo getServo(String name); |
| public TouchSensor getTouchSensor(String name); |
| public void batterySensorEnable(int ms); |
| public void batterySensorDisable(); |
| public int getBatterySensorSamplingPeriod(); |
| public double batterySensorGetValue(); |
| public double getBasicTimeStep(); |
| public int getMode(); |
| public String getModel(); |
| public String getName(); |
| public String getProjectPath(); |
| public bool getSynchronization(); |
| public double getTime(); |
| public void keyboardEnable(int ms); |
| public void keyboardDisable(); |
| public int keyboardGetKey(); |
| } |
| import com.cyberbotics.webots.controller.Servo; |
| public class Servo extends Device { |
| public void setPosition(double position); |
| public void setVelocity(double vel); |
| public void setAcceleration(double force); |
| public void setMotorForce(double motor_force); |
| public void setControlP(double p); |
| public void enablePosition(int ms); |
| public void disablePosition(); |
| public int getPositionSamplingPeriod(); |
| public double getPosition(); |
| public void enableMotorForceFeedback(int ms); |
| public void disableMotorForceFeedback(); |
| public int getMotorForceFeedbackSamplingPeriod(); |
| public double getMotorForceFeedback(); |
| public void setForce(double force); |
| } |
| import com.cyberbotics.webots.controller.Supervisor; |
| public class Supervisor extends Robot { |
| public Supervisor(); |
| protected void finalize(); |
| public void exportImage(String file, int quality); |
| public Node getRoot(); |
| public Node getFromDef(String name); |
| public void setLabel(int id, String label, double xpos, double ypos, |
| double size, int color, double transparency); |
| public void simulationQuit(int status); |
| public void simulationRevert(); |
| public void simulationPhysicsReset(); |
| public void startMovie(String file, int width, int height, int type, int quality); |
| public void stopMovie(); |
| } |
| import com.cyberbotics.webots.controller.TouchSensor; |
| public class TouchSensor extends Device { |
| public void enable(int ms); |
| public void disable(); |
| public int getSamplingPeriod(); |
| public double getValue(); |
| public double[] getValues(); |
| } |