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
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Field Summary
Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent
executionLoopCycleTime, log, shouldRunExecutionLoop
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionprotected List<org.apache.commons.cli.Option>
Command line options available in sub-class.approachLocation
(Symbol desiredLocation) go to the location and then move forward until certain distance from object in frontapproachLocation
(Symbol desiredLocation, Symbol initialLocation) go to the location and then move forward until certain distance from object in frontObserver to check if the robot is at the specified named locationprotected javax.vecmath.Matrix4d
getLocationPose
(Symbol refID) double[]
protected PoseReference
getPoseReference
(Symbol refID) goToLocation
(double xdest, double ydest, double quat_x, double quat_y, double quat_z, double quat_w, boolean wait) go to the point and orientationgoToLocation
(Symbol location) go to the location and then move forward until certain distance from object in frontgoToLocation
(Symbol location, boolean wait) Attempt to reach a named goal location.goToLocation
(Symbol desiredLocation, Symbol initialLocation) go to the location and then move forward until certain distance from object in frontprotected void
init()
Perform any component initialization.isMoving()
protected void
parseArgs
(org.apache.commons.cli.CommandLine cmdLine) Called directly after construction to pass runtime values that will override default values.void
setPoseGlobal
(double x, double y, double theta) void
Any component that needs particular shutdown logic needs to override this method andstop()
Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent
createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, shutdown
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Constructor Details
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MockMoveBaseComponent
public MockMoveBaseComponent()
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Method Details
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additionalUsageInfo
Description copied from class:DiarcComponent
Command line options available in sub-class. This should be paired with a parseArgs implementation.- Overrides:
additionalUsageInfo
in classDiarcComponent
- Returns:
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parseArgs
protected void parseArgs(org.apache.commons.cli.CommandLine cmdLine) Description copied from class:DiarcComponent
Called directly after construction to pass runtime values that will override default values. This should parse all the options that additionalUsageInfo provides.zs- Overrides:
parseArgs
in classDiarcComponent
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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 classDiarcComponent
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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 classDiarcComponent
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setPoseGlobal
public void setPoseGlobal(double x, double y, double theta) - Specified by:
setPoseGlobal
in interfaceMoveBaseInterface
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getPoseGlobalQuat
public double[] getPoseGlobalQuat()- Specified by:
getPoseGlobalQuat
in interfaceMoveBaseInterface
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goToLocation
Description copied from interface:MoveBaseInterface
Attempt to reach a named goal location.- Specified by:
goToLocation
in interfaceMoveBaseInterface
- Parameters:
location
- - name of the goal location
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goToLocation
Description copied from interface:MoveBaseInterface
go to the location and then move forward until certain distance from object in front- Specified by:
goToLocation
in interfaceMoveBaseInterface
- Parameters:
location
- name of the desired location to navigate to- Returns:
- justification specifying if the robot navigated to the location
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goToLocation
Description copied from interface:MoveBaseInterface
go to the location and then move forward until certain distance from object in front- Specified by:
goToLocation
in interfaceMoveBaseInterface
- Parameters:
desiredLocation
- name of the desired location to navigate toinitialLocation
- name of the initial location to navigate from -- used for conditions and effects- Returns:
- justification specifying if the robot navigated to the location
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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 interfaceMoveBaseInterface
- Parameters:
xdest
- x pointydest
- y pointquat_x
- x quaternion valuequat_y
- y quaternion valuequat_z
- z quaternion valuequat_w
- w quaternion valuewait
- should robot wait until reached desired point and orientation- Returns:
- justification if the robot reach the desired point and orientation
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approachLocation
Description copied from interface:MoveBaseInterface
go to the location and then move forward until certain distance from object in front- Specified by:
approachLocation
in interfaceMoveBaseInterface
- Parameters:
desiredLocation
- name of the desired location to navigate to- Returns:
- justification specifying if the robot navigated to the location
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approachLocation
Description copied from interface:MoveBaseInterface
go to the location and then move forward until certain distance from object in front- Specified by:
approachLocation
in interfaceMoveBaseInterface
- Parameters:
desiredLocation
- name of the desired location to navigate toinitialLocation
- name of the initial location to navigate from -- used for conditions and effects- Returns:
- justification specifying if the robot navigated to the location
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stop
- Specified by:
stop
in interfaceMoveBaseInterface
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isMoving
- Specified by:
isMoving
in interfaceMoveBaseInterface
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checkAt
Description copied from interface:MoveBaseInterface
Observer to check if the robot is at the specified named location- Specified by:
checkAt
in interfaceMoveBaseInterface
- Parameters:
locationTerm
- predicate to observe in form: at(?actor, ?location)- Returns:
- observation result
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getLocationPose
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getPoseReference
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