Package edu.tufts.hrilab.interfaces
Interface NavigationInterface
- All Known Subinterfaces:
PR2BaseInterface
- All Known Implementing Classes:
PR2BaseComponent
public interface NavigationInterface
Interface for complex/stateful motion commands (e.g., move to a location,
turn a given amount).
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Method Summary
Modifier and TypeMethodDescriptionboolean
cancelMotion
(long aid) Cancel current Motion.checkMotion
(long aid) Check status of current Motion.long
moveDist
(double dist) Move forward a specified distance.long
moveTo
(double xdest, double ydest) Move to a global location.
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Method Details
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moveTo
long moveTo(double xdest, double ydest) Move to a global location.- Parameters:
xdest
- the x-coordinate of the destinationydest
- the y-coordinate of the destination- Returns:
- an identifying timestamp for the move action
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moveDist
long moveDist(double dist) Move forward a specified distance.- Parameters:
dist
- the distance (in meters) to move- Returns:
- an identifying timestamp for the move action
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checkMotion
Check status of current Motion. Soon this will be obsoleted, as the motion commands will notify Action of their completions.- Parameters:
aid
- the identifying timestamp of the action to check- Returns:
- the status found for the indicated action
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cancelMotion
boolean cancelMotion(long aid) Cancel current Motion.- Parameters:
aid
- the identifying timestamp of the action to cancel- Returns:
- true if action was canceled, false otherwise (i.e., if that action ID was not active)
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