Package edu.tufts.hrilab.tower

Class ElevatorBoardingComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.tower.ElevatorBoardingComponent

public class ElevatorBoardingComponent
extends DiarcComponent

Field Summary

Fields

Modifier and Type	Field	Description
protected MoveBase	base
protected String	baseFrame
protected String	mapFrame
protected String	ns
protected RosConfiguration	rc
protected TowerWaypointFollower	waypointFollower

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
ElevatorBoardingComponent()

Method Summary

Modifier and Type	Method	Description
protected List<org.apache.commons.cli.Option>	additionalUsageInfo()	Command line options available in sub-class.
Justification	boardElevator(Symbol elevatorDoor)
Justification	exitElevator(Symbol elevatorDoor)
void	init()	Perform any component initialization.
protected void	parseArgs(org.apache.commons.cli.CommandLine cmdLine)	Called directly after construction to pass runtime values that will override default values.

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

rc

protected RosConfiguration rc

base

protected MoveBase base

mapFrame

protected String mapFrame

baseFrame

protected String baseFrame

ns

protected String ns

waypointFollower

protected TowerWaypointFollower waypointFollower

Constructor Details

ElevatorBoardingComponent

public ElevatorBoardingComponent()

Method Details

init

public void init()

Description copied from class: DiarcComponent

Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.

Overrides:

init in class DiarcComponent

additionalUsageInfo

protected List<org.apache.commons.cli.Option> additionalUsageInfo()

Description copied from class: DiarcComponent

Command line options available in sub-class. This should be paired with a parseArgs implementation.

Overrides:

additionalUsageInfo in class DiarcComponent

Returns:

parseArgs

protected void parseArgs(org.apache.commons.cli.CommandLine cmdLine)

Description copied from class: DiarcComponent

Called directly after construction to pass runtime values that will override default values. This should parse all the options that additionalUsageInfo provides.zs

Overrides:

parseArgs in class DiarcComponent

boardElevator

public Justification boardElevator(Symbol elevatorDoor)

exitElevator

public Justification exitElevator(Symbol elevatorDoor)