Package edu.tufts.hrilab.pr2

Interface PR2Interface

All Superinterfaces:

ArmInterface, LearningInterface, MoveItInterface

All Known Implementing Classes:

MockPR2Component

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, 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, 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)