Package edu.tufts.hrilab.fetch

Interface FetchInterface

All Superinterfaces:

ArmInterface, LearningInterface, MoveItInterface

All Known Subinterfaces:

FetchItInterface

All Known Implementing Classes:

FetchComponent, FetchItComponent, MockFetchComponent, MockFetchItComponent

public interface FetchInterface
extends MoveItInterface

Method Summary

Modifier and Type	Method	Description
List<Map<Variable,Symbol>>	checkGrasping(Term graspingTerm)
FetchBreakerStates	getBreakerState(String breakerName)	Gets the specified breaker state.
float	getChargeLevel()	Gets the charge level of the fetch
Justification	look(String direction)
Justification	lookAround()
Justification	moveObject(Symbol objectRef, String arm, String direction)
boolean	pointHeadTo(Symbol objectRef)	Point head in direction of target object in base_link coordinate frame.
boolean	pointHeadTo(MemoryObject target_object)	Point head in direction of target object in base_link coordinate frame.
boolean	pointHeadTo(javax.vecmath.Point3d target_point)	Point head in direction of target point in base_link coordinate frame.
FetchBreakerStates	setBreakerState(String breakerName, boolean state)	Sends a breaker command request to set the given breaker to the desired state.
boolean	setTorsoPosition(double position)	Move the torso to desired joint position.

Methods inherited from interface edu.tufts.hrilab.interfaces.ArmInterface

closeGripper, executeTrajectory, getEEPose, getGripperPosition, getPose, goToPose, goToPose, goToStartPose, graspObject, loadEEPosesFromFile, loadPosesFromFile, loadTrajectoriesFromFile, moveGripper, moveTo, moveTo, moveTo, moveTo, moveToRelative, openGripper, pointTo, pressObject, pressObject, recordPose, releaseObject, saveEEPosesToFile, savePosesToFile, saveTrajectoriesToFile, startRecordingTrajectory, stopRecordingTrajectory

Methods inherited from interface edu.tufts.hrilab.interfaces.LearningInterface

learn, unlearn

Methods inherited from interface edu.tufts.hrilab.moveit.MoveItInterface

disableCarryingConstraints, enableCarryingConstraints, goToStartPose, moveToCartesian, moveToJointPosition, moveToJointPositions, moveToJointPositions, pointTo, publishPointCloudToRos

Method Details

setTorsoPosition

boolean setTorsoPosition(double position)

Move the torso to desired joint position.

Parameters:

position - all the way down is 0.0, and all the way up is approximately 0.3

Returns:

TODO: replace this with more general setJointPosition(String joint, double position) method

pointHeadTo

boolean pointHeadTo(MemoryObject target_object)

Point head in direction of target object in base_link coordinate frame.

Parameters:

target_object -

Returns:

pointHeadTo

boolean pointHeadTo(Symbol objectRef)

Point head in direction of target object in base_link coordinate frame. Alternative method to pointHeadTo that takes in POWER ref instead of MemoryObject.

Parameters:

objectRef -

Returns:

pointHeadTo

boolean pointHeadTo(javax.vecmath.Point3d target_point)

Point head in direction of target point in base_link coordinate frame.

Parameters:

target_point -

Returns:

checkGrasping

List<Map<Variable,Symbol>> checkGrasping(Term graspingTerm)

moveObject

Justification moveObject(Symbol objectRef,
 String arm,
 String direction)

look

Justification look(String direction)

lookAround

Justification lookAround()

getChargeLevel

float getChargeLevel()

Gets the charge level of the fetch

Returns:

The charge level of the fest (between 0-1) or -1 if battery state is null (likely not being published)

getBreakerState

FetchBreakerStates getBreakerState(String breakerName)

Gets the specified breaker state.

Parameters:

breakerName - The name of the breaker. Currently, these are the relevant breakers: computer_breaker, battery_breaker, supply_breaker, base_breaker, arm_breaker, gripper_breaker.

Returns:

An enumerated FetchBreakerStates object representing the states of the breaker or null if robot state is null/not being published or the breaker name cannot be found)

setBreakerState

FetchBreakerStates setBreakerState(String breakerName,
 boolean state)

Sends a breaker command request to set the given breaker to the desired state.

Parameters:

breakerName - The name of the breaker. Current settable breakers: base_breaker, arm_breaker, gripper_breaker

state - The desired state of the specified breaker. TRUE means ON and FALSE means OFF.

Returns:

An enumerated FetchBreakerStates object representing the actual resultant state of the breaker (i.e. if the E-stop is on, and you try to turn on the breaker it will still be off). A null return value likely means the breaker name is not valid/cannot be found.