MoveTowardsEnabler (DIARC)

java.lang.Object

edu.tufts.hrilab.movebase.MoveTowardsEnabler

public class MoveTowardsEnabler extends Object

Constructor Summary

Constructors

Constructor

Description

MoveTowardsEnabler()
Method Summary

Modifier and Type

Method

Description

double[]

computeOffset(double[] pose)

boolean

forwardMove(double move_speed, double distance_lim, MoveBaseComponent movebase)

double

getLidarDistanceWithinAngle(double angle)

Calculate the average lidar distance within specified angle of forward-looking laser beam.

Justification

moveTowards()

Slowly work our way forward (via cmd_vel) while constantly checking the LIDAR for any potential obstacles.

Justification

rotate(double rot_amount)

Rotates the robot the specified degrees of rotation or shorter equivalent rotation

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- MoveTowardsEnabler
  
  public MoveTowardsEnabler()
Method Details
- getLidarDistanceWithinAngle
  
  public double getLidarDistanceWithinAngle(double angle)
  
  Calculate the average lidar distance within specified angle of forward-looking laser beam.
  
  Parameters:
  
  angle - angle to include in calculation (radians)
  
  Returns:
- moveTowards
  
  public Justification moveTowards()
  
  Slowly work our way forward (via cmd_vel) while constantly checking the LIDAR for any potential obstacles.
  
  Returns:
- forwardMove
  
  public boolean forwardMove(double move_speed, double distance_lim, MoveBaseComponent movebase)
- rotate
  
  public Justification rotate(double rot_amount)
  
  Rotates the robot the specified degrees of rotation or shorter equivalent rotation
  
  Parameters:
  
  rot_amount - the amount to rotate in radians (counterclockwise (CCW))
  
  Returns:
  
  Condition Justification if the function was a success or s failure
- computeOffset
  
  public double[] computeOffset(double[] pose)