Package edu.tufts.hrilab.abb

Class MockYumiComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.abb.MockYumiComponent

All Implemented Interfaces:

RWSRobotComponentInterface

public class MockYumiComponent
extends DiarcComponent
implements RWSRobotComponentInterface

Field Summary

Fields

Modifier and Type	Field	Description
protected CognexConsultant	cognexConsultant
protected RWSPoseConsultant	rwsPoseConsultant

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
MockYumiComponent()

Method Summary

Modifier and Type	Method	Description
Symbol	addCameraPose(String propertyName, String poseString)
void	addDropoffPose(String propertyName, String cameraPoseName, String poseString)
void	calibrateGripper()
boolean	cancelCurrentRapidAction()
List<Map<Variable,Symbol>>	checkError(Term t)
void	closeGripperRapid()
Justification	cookItem(Symbol refId, Term time)
boolean	defineGraspPointForDescriptor(Symbol refId, Symbol itemType)
void	goToCameraPose(Symbol locationRef)
boolean	goToPoseName(String poseName)
protected void	init()	Perform any component initialization.
void	moveToObject(Symbol refId)
void	openGripperRapid()
boolean	perceiveEntityFromSymbol(Symbol refId)
void	pickupItem(Symbol refId)
void	pourSauce()
void	putDownItem(Symbol refId, Symbol pose)
Justification	sauteItem(Symbol refId, Term time)
void	setCameraResultDetected(boolean cameraResultDetected)
void	setCognexConsultant(CognexConsultant cognexConsultant)
void	setErrorState(boolean errorState)
void	setGraspPoint(Symbol itemType, String targetString)
void	shutdownComponent()	Any component that needs particular shutdown logic needs to override this method and

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

additionalUsageInfo, createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, parseArgs, shutdown

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

rwsPoseConsultant

protected RWSPoseConsultant rwsPoseConsultant

cognexConsultant

protected CognexConsultant cognexConsultant

Constructor Details

MockYumiComponent

public MockYumiComponent()

Method Details

init

protected void init()

Description copied from class: DiarcComponent

Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.

Overrides:

init in class DiarcComponent

setErrorState

public void setErrorState(boolean errorState)

setCameraResultDetected

public void setCameraResultDetected(boolean cameraResultDetected)

goToPoseName

public boolean goToPoseName(String poseName)

Specified by:

goToPoseName in interface RWSRobotComponentInterface

openGripperRapid

public void openGripperRapid()

Specified by:

openGripperRapid in interface RWSRobotComponentInterface

closeGripperRapid

public void closeGripperRapid()

Specified by:

closeGripperRapid in interface RWSRobotComponentInterface

putDownItem

public void putDownItem(Symbol refId,
 Symbol pose)

Specified by:

putDownItem in interface RWSRobotComponentInterface

addCameraPose

public Symbol addCameraPose(String propertyName,
 String poseString)

Specified by:

addCameraPose in interface RWSRobotComponentInterface

addDropoffPose

public void addDropoffPose(String propertyName,
 String cameraPoseName,
 String poseString)

Specified by:

addDropoffPose in interface RWSRobotComponentInterface

goToCameraPose

public void goToCameraPose(Symbol locationRef)

Specified by:

goToCameraPose in interface RWSRobotComponentInterface

defineGraspPointForDescriptor

public boolean defineGraspPointForDescriptor(Symbol refId,
 Symbol itemType)

Specified by:

defineGraspPointForDescriptor in interface RWSRobotComponentInterface

perceiveEntityFromSymbol

public boolean perceiveEntityFromSymbol(Symbol refId)

Specified by:

perceiveEntityFromSymbol in interface RWSRobotComponentInterface

pickupItem

public void pickupItem(Symbol refId)

Specified by:

pickupItem in interface RWSRobotComponentInterface

cookItem

public Justification cookItem(Symbol refId,
 Term time)

Specified by:

cookItem in interface RWSRobotComponentInterface

sauteItem

public Justification sauteItem(Symbol refId,
 Term time)

Specified by:

sauteItem in interface RWSRobotComponentInterface

calibrateGripper

public void calibrateGripper()

Specified by:

calibrateGripper in interface RWSRobotComponentInterface

pourSauce

public void pourSauce()

Specified by:

pourSauce in interface RWSRobotComponentInterface

setGraspPoint

public void setGraspPoint(Symbol itemType,
 String targetString)

Specified by:

setGraspPoint in interface RWSRobotComponentInterface

moveToObject

public void moveToObject(Symbol refId)

Specified by:

moveToObject in interface RWSRobotComponentInterface

setCognexConsultant

public void setCognexConsultant(CognexConsultant cognexConsultant)

Specified by:

setCognexConsultant in interface RWSRobotComponentInterface

cancelCurrentRapidAction

public boolean cancelCurrentRapidAction()

Specified by:

cancelCurrentRapidAction in interface RWSRobotComponentInterface

checkError

public List<Map<Variable,Symbol>> checkError(Term t)

Specified by:

checkError in interface RWSRobotComponentInterface

shutdownComponent

public void shutdownComponent()

Description copied from class: DiarcComponent

Any component that needs particular shutdown logic needs to override this method and

Overrides:

shutdownComponent in class DiarcComponent