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In 7, you learned about inheritance. Each class may have one or more superclasses, from which they inherit behavior. If a method is called (or an attribute is accessed) on an instance of class B and it is not found, its superclass A would be searched. Consider the following two classes: class A: def hello(self): print "Hello, I'm A." class B(A): pass

public class DistanceCalibration { // navigation class private Navigation sNav; // stamp class private NavStamp stamp;

Use the getPreferredAction() method to provide an action to be invoked when the node is double-clicked. That action will obviously be the one we received as a parameter. Last but not least, override the getIcon() method to set the icon of the action to be the icon of the node. Listing 7-12. Leaf node that represent the action, executed by a double-click public class ExplorerLeafNode extends AbstractNode { private Action action = null; public ExplorerLeafNode(Action action) { super(Children.LEAF); this.action = action; setDisplayName(Actions.cutAmpersand((String)action.getValue(Action.NAME))); } public Action getPreferredAction() { return action; } public Image getIcon(int type) { ImageIcon img = (ImageIcon) action.getValue(Action.SMALL ICON); if(img != null) { return img.getImage(); } else { return null; } } } In this section, you ve seen how to create your own Node classes, and you ve seen which responsibilities are handled by the Children object. With these classes, we are able to display folders and files within the layer file. To place the node in a tree structure, work with explorer views. That part of the presentation of nodes is handled by the Explorer & Property Sheet API. The next section affords a short introduction into this topic, ending with an example that wraps up the code discussed in this section.

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The class A defines a method called hello, which is inherited by B. Here is an example of how these classes work: >>> a = A() >>> b = B() >>> a.hello() Hello, I'm A. >>> b.hello() Hello, I'm A. Because B does not define a hello method of its own, the original message is printed when b.hello is called. It is possible for B to override this method. Consider, for example, this modified definition of B: class B(A): def hello(self): print "Hello, I'm B." Using this definition, b.hello() will give a different result: >>> b = B() >>> b.hello() Hello, I'm B. Overriding is an important aspect of the inheritance mechanism in general, but you will most likely encounter one particular problem more often when dealing with constructors than when overriding ordinary methods. If you override the constructor of a class, you need to call the constructor of the superclass (the class you inherit from) or risk having an object that isn t properly initialized. Consider the following class, Bird: class Bird: def __init__(self): self.hungry = 1 def eat(self): if self.hungry: print 'Aaaah...' self.hungry = 0 else: print 'No, thanks!' This class defines one of the most basic capabilities of all birds: eating. Here is an example of how you might use it: >>> b = Bird() >>> b.eat() Aaaah... >>> b.eat() No, thanks!

public DistanceCalibration(JSerialPort sPort) throws Exception{ sNav = new Navigation(sPort); stamp = new NavStamp(sPort); } public void calibrate() throws Exception { // default 3 times calibrate(3); } public void calibrate(int times) throws Exception{ // avg fwd dist per second int avgFWDperSec = 0; int avgREVperSec = 0; int count = 0; int interval = 1000; SonarReadings sr; int startDist; // total distance to summ int totalDistF = 0; int totalDistR = 0; int totalTime = 0; int dist; int speed = 25; while (count < times) { // get forward readings & distance sr = stamp.getSonar(); startDist = sr.center; Utils.pause(250); // face north sNav.changeHeading(0); sNav.setSpeed(speed); // move forward sNav.moveRaw(Navigation.RAW_FWD,count*interval); Utils.pause(250); // take new sonar reading sr = stamp.getSonar(); dist = startDist - sr.center; totalDistF = totalDistF + dist; // get reverse readings & distance startDist = sr.center; Utils.pause(250); sNav.changeHeading(0); sNav.setSpeed(speed); // move reverse sNav.moveRaw(Navigation.RAW_REV,count*interval); Utils.pause(250);

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