kaos.robots.capabilities
Interface MobileRobot

All Known Subinterfaces:

Surveyor

All Known Implementing Classes:

ActivMedia, Amigo, AMptzCamera, AMptzCameraSonar, AMsonar, BreveBot, ER1, Fran, Ivan, KAoSPlayer, KAoSRobotExample, KAoSRobotTest, KBot, Pioneer, StubBot, StubBot

public interface MobileRobot

Method Summary

Coordinate	GetCoordinate() GetCoordinate
Pose	GetPose() GetPose
boolean	IsMoving() IsMoving
void	MoveTo(java.util.HashMap properties) MoveTo
void	Stop() Stop
void	TurnTo(java.util.HashMap properties) TurnTo

Method Detail

MoveTo

void MoveTo(java.util.HashMap properties)
            throws java.lang.Exception

MoveTo

Parameters:

HashMap - of: properties values Xcoordinate distance in meters Ycoordinate distance in meters

Throws:

AbortActionException - with possible reasons: unable to move failed to find path failed to get to goal received stop command

java.lang.Exception

TurnTo

void TurnTo(java.util.HashMap properties)
            throws java.lang.Exception

TurnTo

Parameters:

HashMap - of: properties values Xcoordinate distance in meters Ycoordinate distance in meters

Throws:

AbortActionException - with possible reasons: unable to move

java.lang.Exception

Stop

void Stop()
          throws java.lang.Exception

Stop

Parameters:

none -

Throws:

AbortActionException - with possible reasons: unable to stop

java.lang.Exception

GetCoordinate

Coordinate GetCoordinate()
                         throws java.lang.Exception

GetCoordinate

Parameters:

none -

Returns:

Coordinate containing X in meters Y in meters

Throws:

AbortActionException

java.lang.Exception

GetPose

Pose GetPose()
             throws java.lang.Exception

GetPose

Parameters:

none -

Returns:

Pose containing X in meters Y in meters TH in degrees

Throws:

AbortActionException

java.lang.Exception

IsMoving

boolean IsMoving()
                 throws java.lang.Exception

IsMoving

Parameters:

none -

Returns:

boolean where: true = moving false = not moving

Throws:

AbortActionException

java.lang.Exception