com.kuka.nav.fineloc
Interface FineLocalizationContainer

All Superinterfaces:

LocalizationContainer, com.kuka.nav.command.RequestContainer

public interface FineLocalizationContainer
extends LocalizationContainer

The result of a fine localization request. It provides the pose of the robot relative to the location and other information to determine the quality of the localization.

Method Summary

com.kuka.nav.Pose

getRobotPose() Returns the pose of the robot relative to the location, as determined by the request.

Methods inherited from interface com.kuka.nav.fineloc.LocalizationContainer

getScore, isDataReliable

Methods inherited from interface com.kuka.nav.command.RequestContainer

awaitFinished, awaitFinished, awaitUpdate, awaitUpdate, cancel, getError, hasError, isCancelled, isFinished, isValid

Method Detail

getRobotPose

com.kuka.nav.Pose getRobotPose()

Returns the pose of the robot relative to the location, as determined by the request.

Returns:

the pose of the robot relative to the location. null is returned in case of error.

Note: If RequestContainer.isFinished() returns true and RequestContainer.isValid() returns false, a call of this method will lead to an exception.