com.kuka.nav
Interface MapZone

public interface MapZone

Represents a polygonal area on a map that defines certain navigation constraints, like, for example, the maximum allowed velocity.

Method Summary

int	getId() Returns the id of this map zone.
int	getMapId() Returns the id of the associated map.
String	getName() Returns the name of this map zone.
Polygon	getShape() Returns the shape of this zone as polygon.
boolean	isEnabled() Returns true if this zone is enabled, false otherwise.
boolean	isInside(MobileRobot robot) Returns true if the robot and its load is inside this zone, false otherwise.
boolean	isInside(MobileRobot robot, boolean withLoad) Returns true if the robot and optionally its load is inside this zone, false otherwise.
boolean	isInside(Pose pose) Returns true if the pose is inside this zone, false otherwise.

Method Detail

getId

int getId()

Returns the id of this map zone.

Returns:

the id of this zone

getName

String getName()

Returns the name of this map zone.

Returns:

the name of this map zone

getMapId

int getMapId()

Returns the id of the associated map.

Returns:

the id of the associated map.

getShape

Polygon getShape()

Returns the shape of this zone as polygon. The x and y values correspond to points in the map.

Returns:

the shape of this zone as polygon with values in [m]

isEnabled

boolean isEnabled()

Returns true if this zone is enabled, false otherwise. A disabled zone has no effect on the behavior of the robots.

Returns:

true if this zone is enabled, false otherwise

isInside

boolean isInside(Pose pose)

Returns true if the pose is inside this zone, false otherwise.

Parameters:

pose - The pose.

Returns:

true if the pose is inside this zone, false otherwise.

isInside

boolean isInside(MobileRobot robot,
                 boolean withLoad)

Returns true if the robot and optionally its load is inside this zone, false otherwise.

Parameters:

robot - The robot.

withLoad - If true then the load of the robot will be taken into account, otherwise not.

Returns:

true if the robot and optionally its load is inside this zone, false otherwise.

isInside

boolean isInside(MobileRobot robot)

Returns true if the robot and its load is inside this zone, false otherwise.

Parameters:

robot - The robot.

Returns:

true if the robot and its load is inside this zone, false otherwise.