Package edu.tufts.hrilab.ava

Interface AvaAPIInterface

All Known Implementing Classes:

AvaHTTPAPI, AvaWebsocketAPI

public interface AvaAPIInterface

Represents the API of the Ava robot. Abstracts the cloud-based RMS websocket API and the local HTTP APIs.

Method Summary

Modifier and Type	Method	Description
RMSResponse	dock()
void	end()
double	getBatteryLevel()
RMSDockStatusResponse	getDockStatus()
RMSDriveStatusResponse	getDriveStatus()
RMSDynamicObstaclesResponse	getDynamicObstacles()
RMSGoToStatusResponse	getGoToStatus()
RMSHealthResponse	getHealth()
RMSLidarResponse	getLidar()
RMSMapMetadataResponse	getMapMetadata()
RMSMapMetadataResponse	getMapMetadata(String mapName)
List<RMSMapMetadataResponse>	getMapMetadatas()
RMSPositionResponse	getPosition()
RMSRuntimeResponse	getRuntime()
RMSZLiftCameraTiltResponse	getZLiftCameraTilt()
RMSResponse	goToArbitrary(double x, double y)
RMSResponse	goToArbitrary(double x, double y, double theta)
boolean	hasSession()
boolean	isMoving()
RMSResponse	lookAt(double x, double y, double z, double duration)
RMSResponse	setCameraTilt(double position)
RMSResponse	setRotation(double theta)
RMSResponse	setVelocity(float transVel, float rotVel, float stepVel)
RMSResponse	setVelocity(float transVel, float rotVel, float stepVel, boolean nudge)
RMSResponse	setZLift(double position)
RMSResponse	stop()

Method Details

end

void end()

setVelocity

RMSResponse setVelocity(float transVel,
 float rotVel,
 float stepVel)

setVelocity

RMSResponse setVelocity(float transVel,
 float rotVel,
 float stepVel,
 boolean nudge)

goToArbitrary

RMSResponse goToArbitrary(double x,
 double y)

goToArbitrary

RMSResponse goToArbitrary(double x,
 double y,
 double theta)

dock

RMSResponse dock()

stop

RMSResponse stop()

getPosition

RMSPositionResponse getPosition()

getDriveStatus

RMSDriveStatusResponse getDriveStatus()

getGoToStatus

RMSGoToStatusResponse getGoToStatus()

getHealth

RMSHealthResponse getHealth()

getMapMetadata

RMSMapMetadataResponse getMapMetadata()

getMapMetadata

RMSMapMetadataResponse getMapMetadata(String mapName)

getMapMetadatas

List<RMSMapMetadataResponse> getMapMetadatas()

getZLiftCameraTilt

RMSZLiftCameraTiltResponse getZLiftCameraTilt()

getRuntime

RMSRuntimeResponse getRuntime()

getLidar

RMSLidarResponse getLidar()

getDynamicObstacles

RMSDynamicObstaclesResponse getDynamicObstacles()

getDockStatus

RMSDockStatusResponse getDockStatus()

lookAt

RMSResponse lookAt(double x,
 double y,
 double z,
 double duration)

getBatteryLevel

double getBatteryLevel()

setZLift

RMSResponse setZLift(double position)

setCameraTilt

RMSResponse setCameraTilt(double position)

setRotation

RMSResponse setRotation(double theta)

hasSession

boolean hasSession()

isMoving

boolean isMoving()