PR2Interface (DIARC)

All Superinterfaces:: ArmInterface, LearningInterface, MoveItInterface

All Known Implementing Classes:: MockPR2Component, PR2Component

public interface PR2Interface extends MoveItInterface

Method Summary

Modifier and Type

Method

Description

boolean

goToPoseNoPlanning(String pose_name)

boolean

pointHeadTo(Symbol objectRef)

Point head in direction of target object in base_link coordinate frame.

boolean

pointHeadTo(javax.vecmath.Point3d target_point)

Point head in direction of target point in base_link coordinate frame.

boolean

setTorsoPosition(double position)

Move the torso to desired joint position.

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

Methods inherited from interface edu.tufts.hrilab.moveit.MoveItInterface
disableCarryingConstraints, enableCarryingConstraints, goToStartPose, moveToCartesian, moveToJointPosition, moveToJointPositions, moveToJointPositions, pointTo, publishPointCloudToRos

Method Details
- setTorsoPosition
  
  boolean setTorsoPosition(double position)
  
  Move the torso to desired joint position. TODO: replace this with the more general setJointPosition(String joint, double position) method in MoveItComponent
  
  Parameters:
  
  position - all the way down is 0.0, and all the way up is approximately 0.3
  
  Returns:
- pointHeadTo
  
  boolean pointHeadTo(Symbol objectRef)
  
  Point head in direction of target object in base_link coordinate frame. Alternative method to pointHeadTo that takes in POWER ref instead of MemoryObject.
  
  Parameters:
  
  objectRef -
  
  Returns:
- pointHeadTo
  
  boolean pointHeadTo(javax.vecmath.Point3d target_point)
  
  Point head in direction of target point in base_link coordinate frame.
  
  Parameters:
  
  target_point -
  
  Returns:
- goToPoseNoPlanning
  
  boolean goToPoseNoPlanning(String pose_name)