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

Field Summary

Fields inherited from class edu.tufts.hrilab.moveit.MockMoveItComponent

grasping, shouldSimExecTime, simExecTimeout

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

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
MockFetchComponent()

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 groupName, 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 class edu.tufts.hrilab.moveit.MockMoveItComponent

additionalUsageInfo, closeGripper, disableCarryingConstraints, enableCarryingConstraints, executeTrajectory, getEEPose, getGripperPosition, getPose, goToEEPose, goToPose, goToPose, goToStartPose, goToStartPose, graspObject, learn, loadEEPosesFromFile, loadPosesFromFile, loadTrajectoriesFromFile, moveGripper, moveTo, moveTo, moveTo, moveTo, moveToCartesian, moveToJointPosition, moveToJointPositions, moveToJointPositions, moveToRelative, openGripper, parseArgs, pointTo, pointTo, pressObject, pressObject, publishPointCloudToRos, recordEEPose, recordPose, releaseObject, saveEEPosesToFile, savePosesToFile, saveTrajectoriesToFile, startRecordingTrajectory, stopRecordingTrajectory, unlearn

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

createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, init, main, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

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

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

Constructor Details

MockFetchComponent

public MockFetchComponent()

Method Details

setTorsoPosition

public boolean 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 boolean 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 boolean 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 boolean 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

moveObject

public Justification moveObject(Symbol objectRef,
 String groupName,
 String direction)

Specified by:

moveObject 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.