Package edu.tufts.hrilab.fetch

Class MockFetchComponent

java.lang.Object
edu.tufts.hrilab.diarc.DiarcComponent
edu.tufts.hrilab.moveit.MockMoveItComponent
edu.tufts.hrilab.fetch.MockFetchComponent
All Implemented Interfaces:
FetchInterface, ArmInterface, LearningInterface, MoveItInterface
Direct Known Subclasses:
MockFetchItComponent
public class MockFetchComponent extends MockMoveItComponent implements FetchInterface

  • Constructor Details

    • MockFetchComponent

      public MockFetchComponent()

  • Method Details

    • setTorsoPosition

      public Justification setTorsoPosition(double position)
      Description copied from interface: FetchInterface
      Move the torso to desired joint position.
      Specified by:
      setTorsoPosition in interface FetchInterface
      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

      public Justification pointHeadTo(MemoryObject target_object)
      Description copied from interface: FetchInterface
      Point head in direction of target object in base_link coordinate frame.
      Specified by:
      pointHeadTo in interface FetchInterface
      Returns:

    • pointHeadTo

      public Justification pointHeadTo(Symbol objectRef)
      Description copied from interface: FetchInterface
      Point head in direction of target object in base_link coordinate frame. Alternative method to pointHeadTo that takes in POWER ref instead of MemoryObject.
      Specified by:
      pointHeadTo in interface FetchInterface
      Returns:

    • pointHeadTo

      public Justification pointHeadTo(javax.vecmath.Point3d target_point)
      Description copied from interface: FetchInterface
      Point head in direction of target point in base_link coordinate frame.
      Specified by:
      pointHeadTo in interface FetchInterface
      Returns:

    • look

      public Justification look(String direction)
      Specified by:
      look in interface FetchInterface

    • lookAround

      public Justification lookAround()
      Specified by:
      lookAround in interface FetchInterface

    • checkGrasping

      public List<Map<Variable,Symbol>> checkGrasping(Term graspingTerm)
      Specified by:
      checkGrasping in interface FetchInterface

    • getChargeLevel

      public float getChargeLevel()
      Description copied from interface: FetchInterface
      Gets the charge level of the fetch
      Specified by:
      getChargeLevel in interface FetchInterface
      Returns:
      The charge level of the fest (between 0-1) or -1 if battery state is null (likely not being published)

    • getBreakerState

      public FetchBreakerStates getBreakerState(String breakerName)
      Description copied from interface: FetchInterface
      Gets the specified breaker state.
      Specified by:
      getBreakerState in interface FetchInterface
      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

      public FetchBreakerStates setBreakerState(String breakerName, boolean state)
      Description copied from interface: FetchInterface
      Sends a breaker command request to set the given breaker to the desired state.
      Specified by:
      setBreakerState in interface FetchInterface
      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.

    • simExecTime

      protected void simExecTime()