Package edu.tufts.hrilab.pr2

Interface PR2BaseInterface

All Superinterfaces:

NavigationInterface, OrientationInterface, VelocityInterface

All Known Implementing Classes:

PR2BaseComponent

public interface PR2BaseInterface
extends NavigationInterface, OrientationInterface, VelocityInterface

Method Summary

Modifier and Type	Method	Description
double[]	getPoseGlobalQuat()	Alternative version of getPoseGlobal that returns x-y location as well as quaternion orientation (x, y, quat_x, quat_y, quat_z, quat_w).
long	moveTo(double xdest, double ydest, double quat_x, double quat_y, double quat_z, double quat_w)	Move to a global location.

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

cancelMotion, checkMotion, moveDist, moveTo

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

cancelMotion, checkMotion, turnDist, turnTo

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

getDefaultVels, getRV, getTV, getVels, setRV, setTV, setVels, stop

Method Details

moveTo

long moveTo(double xdest,
 double ydest,
 double quat_x,
 double quat_y,
 double quat_z,
 double quat_w)

Move to a global location. TODO: move this method to NavigationComponent interface.

Parameters:

xdest - the x-coordinate of the destination

ydest - the y-coordinate of the destination

quat_x - x quaternion value

quat_y - y quaternion value

quat_z - z quaternion value

quat_w - w quaternion value

Returns:

an identifying timestamp for the move action

getPoseGlobalQuat

double[] getPoseGlobalQuat()

Alternative version of getPoseGlobal that returns x-y location as well as quaternion orientation (x, y, quat_x, quat_y, quat_z, quat_w).

Returns: