public class ALNavigation extends ALProxy
Constructor and Description |
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ALNavigation(Session session) |
Modifier and Type | Method and Description |
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void |
clearStats() |
void |
exit()
Exits and unregisters the module.
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java.lang.String |
getBrokerName()
Gets the name of the parent broker.
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java.lang.Object |
getMethodHelp(java.lang.String methodName)
Retrieves a method's description.
|
java.util.List<java.lang.String> |
getMethodList()
Retrieves the module's method list.
|
java.lang.Object |
getModuleHelp()
Retrieves the module's description.
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java.lang.Float |
getSecurityDistance()
Distance in meters fromwhich the robot should stop if there is an obstacle.
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java.lang.String |
getUsage(java.lang.String name)
Gets the method usage string.
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java.lang.Boolean |
isRunning(java.lang.Integer id)
Returns true if the method is currently running.
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java.lang.Boolean |
isStatsEnabled() |
java.lang.Boolean |
isTraceEnabled() |
void |
move(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot move at the given speed in S.I. units.
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void |
move(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object moveConfig)
Makes the robot move at the given speed in S.I. units.
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java.lang.Boolean |
moveAlong(java.lang.Object trajectory)
.
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void |
moveTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot move at the given position.This is a blocking call.
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void |
moveTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object moveConfig)
Makes the robot move at the given position.This is a blocking call.
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void |
moveToward(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot move at the given speed in normalized speed fraction.
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void |
moveToward(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object moveConfig)
Makes the robot move at the given speed in normalized speed fraction.
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java.lang.Boolean |
navigateTo(java.lang.Float x,
java.lang.Float y)
Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
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java.lang.Boolean |
navigateTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
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java.lang.Boolean |
navigateTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object config)
Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
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java.lang.Boolean |
navigateTo(java.lang.Float x,
java.lang.Float y,
java.lang.Object config)
Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
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void |
onTouchChanged(java.lang.String param1,
java.lang.Object param2,
java.lang.String param3)
.
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java.lang.Boolean |
ping()
Just a ping.
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void |
setSecurityDistance(java.lang.Float param1)
Distance in meters fromwhich the robot should stop if there is an obstacle.
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void |
stop(java.lang.Integer id)
returns true if the method is currently running
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void |
stopNavigateTo()
Stops the navigateTo.
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java.lang.String |
version()
Returns the version of the module.
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java.lang.Boolean |
wait(java.lang.Integer id,
java.lang.Integer timeoutPeriod)
Wait for the end of a long running method that was called using 'post'
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call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService
public ALNavigation(Session session) throws java.lang.Exception
java.lang.Exception
public java.lang.Boolean isStatsEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void clearStats() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isTraceEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void exit() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String version() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean ping() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getMethodList() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getMethodHelp(java.lang.String methodName) throws CallError, java.lang.InterruptedException
methodName
- The name of the method.CallError
java.lang.InterruptedException
public java.lang.Object getModuleHelp() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) throws CallError, java.lang.InterruptedException
id
- The ID of the method that was returned when calling the method using 'post'timeoutPeriod
- The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.CallError
java.lang.InterruptedException
public java.lang.Boolean isRunning(java.lang.Integer id) throws CallError, java.lang.InterruptedException
id
- The ID of the method that was returned when calling the method using 'post'CallError
java.lang.InterruptedException
public void stop(java.lang.Integer id) throws CallError, java.lang.InterruptedException
id
- the ID of the method to wait forCallError
java.lang.InterruptedException
public java.lang.String getBrokerName() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String getUsage(java.lang.String name) throws CallError, java.lang.InterruptedException
name
- The name of the method.CallError
java.lang.InterruptedException
public java.lang.Boolean navigateTo(java.lang.Float x, java.lang.Float y) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].CallError
java.lang.InterruptedException
public java.lang.Boolean navigateTo(java.lang.Float x, java.lang.Float y, java.lang.Object config) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].config
- Configuration ALValue. For example, [["SpeedFactor", 0.5]] sets speedFactor to 0.5CallError
java.lang.InterruptedException
public java.lang.Boolean navigateTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- Orientation of the robot (rad).CallError
java.lang.InterruptedException
public java.lang.Boolean navigateTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object config) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- Orientation of the robot (rad).config
- Configuration ALValue. For example, [["SpeedFactor", 0.5]] sets speedFactor to 0.5CallError
java.lang.InterruptedException
public void moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- The angle around z axis [rad].CallError
java.lang.InterruptedException
public void moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- The angle around z axis [rad].moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void move(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The speed along x axis [m.s-1].y
- The speed along y axis [m.s-1].theta
- The anglular speed around z axis [rad.s-1].CallError
java.lang.InterruptedException
public void move(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The speed along x axis [m.s-1].y
- The speed along y axis [m.s-1].theta
- The anglular speed around z axis [rad.s-1].moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void moveToward(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The speed along x axis [0.0-1.0].y
- The speed along y axis [0.0-1.0].theta
- The anglular speed around z axis [0.0-1.0].CallError
java.lang.InterruptedException
public void moveToward(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The speed along x axis [0.0-1.0].y
- The speed along y axis [0.0-1.0].theta
- The anglular speed around z axis [0.0-1.0].moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void setSecurityDistance(java.lang.Float param1) throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Float getSecurityDistance() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void stopNavigateTo() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean moveAlong(java.lang.Object trajectory) throws CallError, java.lang.InterruptedException
trajectory
- An ALValue describing a trajectory.CallError
java.lang.InterruptedException
Aldebaran SDK for Java
Copyright 2006-2015 Aldebaran Robotics. All Rights Reserved.