Package edu.tufts.hrilab.spot

Interface SpotInterface

All Superinterfaces:

ArmInterface, CoordinateFramesInterface, DockingInterface, MapBuilderInterface, MoveBaseInterface, VelocityInterface

All Known Implementing Classes:

MockSpotComponent

public interface SpotInterface
extends DockingInterface, MoveBaseInterface, ArmInterface, CoordinateFramesInterface, VelocityInterface, MapBuilderInterface

Method Summary

Modifier and Type	Method	Description
Justification	claim()
Justification	goToSpecificPose(double x, double y, double z, double qx, double qy, double qz, double qw)
Justification	grabObject(Symbol refId)	Deprecated.
boolean	isHoldingObject()	TODO: why won't this work from asl as a tsc: ??
boolean	isLocalized()	TODO: why won't this work from asl as a tsc: ??
Justification	localizeWithFiducial()
Justification	localizeWithReference(Symbol refId)
Justification	openDoor(Symbol doorRef, Symbol handleRef)
Justification	powerOff()
Justification	powerOn()
Justification	release()
Justification	sit()
Justification	stand()

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, stop, stopRecordingTrajectory

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

addLocalStaticTransform, getCoordinateFrames, getTransform

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

dock, undock

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

createWaypoint, finishMapping, startMapping

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

approachLocation, approachLocation, checkAt, getPoseGlobalQuat, goToLocation, goToLocation, goToLocation, goToLocation, isMoving, setPoseGlobal, stop

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

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

Method Details

claim

Justification claim()

release

Justification release()

powerOn

Justification powerOn()

powerOff

Justification powerOff()

stand

Justification stand()

sit

Justification sit()

isLocalized

boolean isLocalized()

TODO: why won't this work from asl as a tsc: ??

Returns:

localizeWithReference

Justification localizeWithReference(Symbol refId)

localizeWithFiducial

Justification localizeWithFiducial()

isHoldingObject

boolean isHoldingObject()

TODO: why won't this work from asl as a tsc: ??

Returns:

grabObject

@Deprecated
Justification grabObject(Symbol refId)

Deprecated.

TODO: remove this in favor of the graspObject method in the ArmInterface

Parameters:

refId -

Returns:

openDoor

Justification openDoor(Symbol doorRef,
 Symbol handleRef)

goToSpecificPose

Justification goToSpecificPose(double x,
 double y,
 double z,
 double qx,
 double qy,
 double qz,
 double qw)