Package edu.tufts.hrilab.mtracs

Interface CR800ComponentInterface

All Known Implementing Classes:
MockCR800Component
public interface CR800ComponentInterface

  • Method Details

    • reconnect

      boolean reconnect()

    • moveInPlane

      boolean moveInPlane(Symbol x, Symbol y)

    • moveAbove

      boolean moveAbove(Symbol s)

    • moveZRelative

      boolean moveZRelative(double dist)

    • moveXRelative

      boolean moveXRelative(double dist)

    • closeGripper

      boolean closeGripper()

    • openGripper

      boolean openGripper()

    • pickupScrew

      boolean pickupScrew()

    • tightenScrew

      boolean tightenScrew(Symbol screwType)

    • shankOut

      boolean shankOut()

    • shankIn

      boolean shankIn()

    • getCurrentPose

      MPose getCurrentPose()

    • recordPose

      Symbol recordPose(Symbol poseName, Symbol surfaceHeight)

    • recordPose

      Symbol recordPose(Symbol poseName, MPose pose, Symbol surfaceHeight)

    • getPoseFromSymbol

      MPose getPoseFromSymbol(Symbol poseName)

    • goToPose

      boolean goToPose(MPose goal)

    • goToPoseLong

      boolean goToPoseLong(MPose goal)

    • adjustPoseToCameraHeight

      MPose adjustPoseToCameraHeight(MPose goal, Symbol cameraHeight)

    • bindToSurface

      void bindToSurface(MPose goal, Symbol surfaceHeight)

    • getTCPForEE

      MPose getTCPForEE(Symbol eeType)

    • alternateEE

      boolean alternateEE(MPose newTCP)

    • acceptEE

      boolean acceptEE()

    • ejectEE

      boolean ejectEE()

    • getGripDropoff

      MPose getGripDropoff(Symbol s)

    • rotateForToolRack

      boolean rotateForToolRack()

    • moveAwayFromJointLimit

      boolean moveAwayFromJointLimit()

    • undoCognexOffset

      boolean undoCognexOffset()

    • doCognexOffset

      boolean doCognexOffset()

    • getCameraData

      List<CognexResult> getCameraData(String jobName)

    • moveToCognexTarget

      boolean moveToCognexTarget(List<CognexResult> results, int jobIndex)

    • moveToCognexTarget

      boolean moveToCognexTarget(Symbol refID)

    • moveAndOrientToCognexTarget

      boolean moveAndOrientToCognexTarget(Symbol refID)

    • bindCognexResult

      void bindCognexResult(CognexReference ref, CognexResult result, int indexIntoCognexResult)

    • getMatchingResult

      CognexResult getMatchingResult(CognexReference toReBind, List<CognexResult> results)

    • getEmptyProps

      List<Term> getEmptyProps()

    • createCogRefWithProps

      CognexReference createCogRefWithProps(CognexJob j, List<Term> additionalProperties)

    • getCognexJobForCognexReference

      CognexJob getCognexJobForCognexReference(CognexReference ref)

    • getCognexReferenceForID

      CognexReference getCognexReferenceForID(Symbol refId)

    • getDescriptorForID

      Symbol getDescriptorForID(Symbol refId)

    • getCognexJobForDescriptor

      CognexJob getCognexJobForDescriptor(Symbol descriptor)

    • eeOrientTo

      boolean eeOrientTo(javax.vecmath.Point3d g)

    • getMHeader

      List<String> getMHeader()

    • getConstantMappings

      Map<String,String> getConstantMappings()

    • getModelType

      String getModelType()

    • delay

      boolean delay(double seconds)

    • moveToRelative

      boolean moveToRelative(MPose g)

    • removeCognexReferenceWithID

      boolean removeCognexReferenceWithID(Symbol refID)