com.kuka.nav.fineloc
Class ObjectLocalizationRequest

java.lang.Object
  com.kuka.nav.fineloc.ObjectLocalizationRequest

All Implemented Interfaces:

com.kuka.nav.command.Request<ObjectLocalizationContainer>

public final class ObjectLocalizationRequest
extends Object
implements com.kuka.nav.command.Request<ObjectLocalizationContainer>

Requests a robot to localize an object relative to the robot.

The robot will use model data of the object to perform the localization of the object, based on an initial pose estimate. The pose estimate can for example be obtained from the result of a previous ObjectDetectionRequest. The quality of the result depends on both the correctness of the passed detection model and the accuracy of the passed pose estimate.

The returned container will contain the information on whether it is rated as reliable by the navigation system.

This is a one shot request, meaning the result is ready once the request has finished.

Constructor Summary

ObjectLocalizationRequest(com.kuka.nav.geometry.DetectionModel model, com.kuka.nav.Pose poseEstimate)
Creates a new request to localize an object relative to the robot.

Method Summary

com.kuka.nav.geometry.DetectionModel	getDetectionModel() Returns the detection model of the object to localize.
com.kuka.nav.Pose	getObjectPose() Returns the initial pose estimate of the object to localize relative to the robot.
ObjectLocalizationRequest	setDetectionModel(com.kuka.nav.geometry.DetectionModel model) Sets the detection model of the object to localize.
ObjectLocalizationRequest	setObjectPose(com.kuka.nav.Pose poseEstimate) Sets the initial pose estimate of the object to localize relative to the robot.

Methods inherited from class java.lang.Object

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

Constructor Detail

ObjectLocalizationRequest

public ObjectLocalizationRequest(com.kuka.nav.geometry.DetectionModel model,
                                 com.kuka.nav.Pose poseEstimate)

Creates a new request to localize an object relative to the robot.

Parameters:

model - the detection model of the object to localize

poseEstimate - the initial pose estimate of the object to localize relative to the robot in [m, m, rad]

Throws:

IllegalArgumentException - if at least one of the parameters is null

Method Detail

getDetectionModel

public com.kuka.nav.geometry.DetectionModel getDetectionModel()

Returns the detection model of the object to localize.

Returns:

the detection model of the object to localize

setDetectionModel

public ObjectLocalizationRequest setDetectionModel(com.kuka.nav.geometry.DetectionModel model)

Sets the detection model of the object to localize.

Parameters:

model - the detection model of the object to localize

Returns:

this request

Throws:

IllegalArgumentException - if the detection model is null

getObjectPose

public com.kuka.nav.Pose getObjectPose()

Returns the initial pose estimate of the object to localize relative to the robot.

Returns:

the initial pose estimate in [m, m, rad]

setObjectPose

public ObjectLocalizationRequest setObjectPose(com.kuka.nav.Pose poseEstimate)

Sets the initial pose estimate of the object to localize relative to the robot.

Parameters:

poseEstimate - the initial pose estimate in [m, m, rad]

Returns:

this request

Throws:

IllegalArgumentException - if the pose estimate is null