Package edu.tufts.hrilab.moveit

Interface MoveItInterface

All Superinterfaces:

ArmInterface, LearningInterface

All Known Subinterfaces:

FetchInterface, FetchItInterface, PR2Interface

All Known Implementing Classes:

FetchComponent, FetchItComponent, MockFetchComponent, MockFetchItComponent, MockMoveItComponent, MockPR2Component, MoveItComponent, PR2Component

public interface MoveItInterface
extends ArmInterface, LearningInterface

Method Summary

Modifier and Type	Method	Description
void	disableCarryingConstraints()	Turn off carrying orientation constraints.
void	enableCarryingConstraints()	Turn on carrying orientation constraints.
boolean	goToStartPose()
boolean	moveToCartesian(String groupName, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)
boolean	moveToJointPosition(String joint, double position)	Deprecated.
boolean	moveToJointPositions(String[] jointNames, double[] positions)	Deprecated.
boolean	moveToJointPositions(String[] joint_names, double[] positions, double[] velocities, double[] efforts)	Deprecated.
boolean	pointTo(String groupName, javax.vecmath.Point3d location)
boolean	publishPointCloudToRos(byte[] depthData)	Publish the compressed depth data to ROS after being decompressed and converted to proper point cloud form.

Methods inherited from interface edu.tufts.hrilab.interfaces.ArmInterface

closeGripper, executeTrajectory, getEEPose, getGripperPosition, getPose, goToPose, goToPose, goToStartPose, graspObject, loadEEPosesFromFile, loadPosesFromFile, loadTrajectoriesFromFile, moveGripper, moveTo, moveTo, moveTo, moveTo, moveToRelative, openGripper, pointTo, pressObject, pressObject, recordPose, releaseObject, saveEEPosesToFile, savePosesToFile, saveTrajectoriesToFile, startRecordingTrajectory, stopRecordingTrajectory

Methods inherited from interface edu.tufts.hrilab.interfaces.LearningInterface

learn, unlearn

Method Details

moveToJointPositions

@Deprecated
boolean moveToJointPositions(String[] joint_names,
 double[] positions,
 double[] velocities,
 double[] efforts)

Deprecated.

moveToJointPositions

@Deprecated
boolean moveToJointPositions(String[] jointNames,
 double[] positions)

Deprecated.

moveToJointPosition

@Deprecated
boolean moveToJointPosition(String joint,
 double position)

Deprecated.

Set the position of a single joint. All remaining joints will remain in the same position.

Parameters:

joint - The name of the joint to manipulate, as found in `names` of /joint_states

position - The goal position, as viewed in /joint_states

Returns:

true on success, false on failure. This function blocks.

enableCarryingConstraints

void enableCarryingConstraints()

Turn on carrying orientation constraints. This will apply to all moveTo and goToPose methods.

disableCarryingConstraints

void disableCarryingConstraints()

Turn off carrying orientation constraints.

pointTo

boolean pointTo(String groupName,
 javax.vecmath.Point3d location)

moveToCartesian

boolean moveToCartesian(String groupName,
 javax.vecmath.Point3d point,
 javax.vecmath.Quat4d orientation)

goToStartPose

boolean goToStartPose()

publishPointCloudToRos

boolean publishPointCloudToRos(byte[] depthData)

Publish the compressed depth data to ROS after being decompressed and converted to proper point cloud form.

Parameters:

depthData - A byte array containing the point cloud data.

Returns:

true on success.