Package edu.tufts.hrilab.movebase

Class MockMoveBaseComponent

java.lang.Object
edu.tufts.hrilab.diarc.DiarcComponent
edu.tufts.hrilab.movebase.MockMoveBaseComponent
All Implemented Interfaces:
MoveBaseInterface
Direct Known Subclasses:
MockUnityPR2Component
public class MockMoveBaseComponent extends DiarcComponent implements MoveBaseInterface

  • Constructor Details

    • MockMoveBaseComponent

      public MockMoveBaseComponent()

  • Method Details

    • additionalUsageInfo

      protected List<org.apache.commons.cli.Option> additionalUsageInfo()
      Description copied from class: DiarcComponent
      Override this method to define command line options available in sub-class. This should be paired with a parseArgs implementation.
      Overrides:
      additionalUsageInfo in class DiarcComponent
      Returns:

    • parseArgs

      protected void parseArgs(org.apache.commons.cli.CommandLine cmdLine)
      Description copied from class: DiarcComponent
      Override this method to parse command line args in the sub-class. Called directly after construction to pass runtime values that will override default values. This should parse all the options that additionalUsageInfo provides.
      Overrides:
      parseArgs in class DiarcComponent

    • init

      protected void init()
      Description copied from class: DiarcComponent
      Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.
      Overrides:
      init in class DiarcComponent

    • shutdownComponent

      public void shutdownComponent()
      Description copied from class: DiarcComponent
      Any component that needs particular shutdown logic needs to override this method and
      Overrides:
      shutdownComponent in class DiarcComponent

    • setPoseGlobal

      public void setPoseGlobal(double x, double y, double theta)
      Specified by:
      setPoseGlobal in interface MoveBaseInterface

    • getPoseGlobalQuat

      public double[] getPoseGlobalQuat()
      Specified by:
      getPoseGlobalQuat in interface MoveBaseInterface

    • goToLocation

      public Justification goToLocation(Symbol location, boolean wait)
      Description copied from interface: MoveBaseInterface
      Attempt to reach a named goal location.
      Specified by:
      goToLocation in interface MoveBaseInterface
      Parameters:
      location - - name of the goal location

    • goToLocation

      public Justification goToLocation(Symbol location)
      Description copied from interface: MoveBaseInterface
      go to the location and then move forward until certain distance from object in front
      Specified by:
      goToLocation in interface MoveBaseInterface
      Parameters:
      location - name of the desired location to navigate to
      Returns:
      justification specifying if the robot navigated to the location

    • goToLocation

      public Justification goToLocation(Symbol desiredLocation, Symbol initialLocation)
      Description copied from interface: MoveBaseInterface
      go to the location and then move forward until certain distance from object in front
      Specified by:
      goToLocation in interface MoveBaseInterface
      Parameters:
      desiredLocation - name of the desired location to navigate to
      initialLocation - name of the initial location to navigate from -- used for conditions and effects
      Returns:
      justification specifying if the robot navigated to the location

    • goToLocation

      public Justification goToLocation(double xdest, double ydest, double quat_x, double quat_y, double quat_z, double quat_w, boolean wait)
      Description copied from interface: MoveBaseInterface
      go to the point and orientation
      Specified by:
      goToLocation in interface MoveBaseInterface
      Parameters:
      xdest - x point
      ydest - y point
      quat_x - x quaternion value
      quat_y - y quaternion value
      quat_z - z quaternion value
      quat_w - w quaternion value
      wait - should robot wait until reached desired point and orientation
      Returns:
      justification if the robot reach the desired point and orientation

    • approachLocation

      public Justification approachLocation(Symbol desiredLocation)
      Description copied from interface: MoveBaseInterface
      go to the location and then move forward until certain distance from object in front
      Specified by:
      approachLocation in interface MoveBaseInterface
      Parameters:
      desiredLocation - name of the desired location to navigate to
      Returns:
      justification specifying if the robot navigated to the location

    • approachLocation

      public Justification approachLocation(Symbol desiredLocation, Symbol initialLocation)
      Description copied from interface: MoveBaseInterface
      go to the location and then move forward until certain distance from object in front
      Specified by:
      approachLocation in interface MoveBaseInterface
      Parameters:
      desiredLocation - name of the desired location to navigate to
      initialLocation - name of the initial location to navigate from -- used for conditions and effects
      Returns:
      justification specifying if the robot navigated to the location

    • stop

      public Justification stop()
      Specified by:
      stop in interface MoveBaseInterface

    • isMoving

      public Justification isMoving()
      Specified by:
      isMoving in interface MoveBaseInterface

    • checkAt

      public List<Map<Variable,Symbol>> checkAt(Term locationTerm)
      Description copied from interface: MoveBaseInterface
      Observer to check if the robot is at the specified named location
      Specified by:
      checkAt in interface MoveBaseInterface
      Parameters:
      locationTerm - predicate to observe in form: at(?actor, ?location)
      Returns:
      observation result

    • getLocationPose

      protected javax.vecmath.Matrix4d getLocationPose(Symbol refID)

    • getPoseReference

      protected PoseReference getPoseReference(Symbol refID)