Package edu.tufts.hrilab.interfaces

Interface OrientationInterface

All Known Subinterfaces:
PR2BaseInterface
All Known Implementing Classes:
PR2BaseComponent
public interface OrientationInterface
Interface for complex/stateful motion commands (e.g., move to a location, turn a given amount).

  • Method Summary

    Modifier and Type
    Method
    Description
    boolean
    cancelMotion(long aid)
    Cancel current Motion.
    ActionStatus
    checkMotion(long aid)
    Check status of current Motion.
    long
    turnDist(double dist)
    Turn a specified distance.
    long
    turnTo(double tdest)
    Turn to a global heading.

  • Method Details

    • turnTo

      long turnTo(double tdest)
      Turn to a global heading.
      Parameters:
      tdest - the global heading (in radians) to which to turn
      Returns:
      an identifying timestamp for the turn action

    • turnDist

      long turnDist(double dist)
      Turn a specified distance.
      Parameters:
      dist - the distance (in radians) to turn
      Returns:
      an identifying timestamp for the turn action

    • checkMotion

      ActionStatus checkMotion(long aid)
      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

    • 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)