Sensors and States

Robotics API Sensors can provide States, as illustrated by the following examples:

• BooleanSensor#isTrue()/isFalse() create States that are active if the Sensor measures true or false, respectively.
• DoubleSensor#isEqual(...)/isGreater(...)/isLess(...) create States whose activeness depends on comparing the sensor’s measurements with those of other sensors or with constant values.

More complex Sensors can in many cases be split into simpler parts or merged to simpler Sensors which can then be used to create States. An example is VectorSensor#getLengthSensor(), which returns a DoubleSensor that measures the length of the Vectors measured by the VectorSensor.