com.kuka.nav.robot
Class LocalizeCommand

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<T,E>
          com.kuka.nav.command.Action<LocalizeCommand,ActionContainer<LocalizeCommand,NavExecutionResult>>
              com.kuka.nav.robot.LocalizeCommand

All Implemented Interfaces:

com.kuka.command.ICommand<LocalizeCommand,ActionContainer<LocalizeCommand,NavExecutionResult>>, com.kuka.command.IParameterizableCommand<LocalizeCommand,ActionContainer<LocalizeCommand,NavExecutionResult>>, com.kuka.parameters.IParameterizable

public final class LocalizeCommand
extends Action<LocalizeCommand,ActionContainer<LocalizeCommand,NavExecutionResult>>

Command to (re-)initialize the pose estimate of the commanded mobile robot's on board laser localization.

Constructor Summary

protected	LocalizeCommand(com.kuka.parameters.IParameterMap params) Copy constructor.
	LocalizeCommand(Pose newPose) Creates a new localizer pose initialization command using the given pose.
	LocalizeCommand(Pose newPose, double sigmaTrans, double sigmaRot) Creates a new localizer pose initialization command using the given pose and standard deviation.

Method Summary

LocalizeCommand	copy()
Pose	getPose() Returns the initial pose of this command.
Double	getSigmaRot() Returns the rotational standard deviation for the initial object pose estimate.
Double	getSigmaTrans() Returns the translational standard deviation for the initial pose estimate.
LocalizeCommand	setPose(Pose newPose) Sets the initial localized pose.
LocalizeCommand	setSigmaRot(Double sigmaRot) Sets the rotational standard deviation of the initial object pose estimate.
LocalizeCommand	setSigmaTrans(Double sigmaTrans) Sets the translational standard deviation of the initial pose estimate.

Methods inherited from class com.kuka.nav.command.Action

getTimeout, setTimeout

Methods inherited from class com.kuka.nav.command.AbstractCommand

getDescription, self, setDescription

Methods inherited from class com.kuka.nav.command.AbstractParameterizable

getParameters, paramHelper

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.parameters.IParameterizable

getParameters

Constructor Detail

LocalizeCommand

public LocalizeCommand(Pose newPose)

Creates a new localizer pose initialization command using the given pose.

Parameters:

newPose - the pose (map coordinates)

LocalizeCommand

public LocalizeCommand(Pose newPose,
                       double sigmaTrans,
                       double sigmaRot)

Creates a new localizer pose initialization command using the given pose and standard deviation.

Parameters:

newPose - the pose (map coordinates)

sigmaTrans - the initial translational standard deviation of the localizer in [m]

sigmaRot - the initial rotational standard deviation of the localizer in [rad]

LocalizeCommand

protected LocalizeCommand(com.kuka.parameters.IParameterMap params)

Copy constructor. Creates a new localizer pose initialization command using a deep copy of the specified parameter map.

Parameters:

params - parameter map containing the command parameters

Method Detail

setPose

public LocalizeCommand setPose(Pose newPose)

Sets the initial localized pose.

Parameters:

newPose - the pose (map coordinates)

Returns:

a reference to this command

getPose

public Pose getPose()

Returns the initial pose of this command.

Returns:

the commanded initial localized pose (map coordinates)

setSigmaTrans

public LocalizeCommand setSigmaTrans(Double sigmaTrans)

Sets the translational standard deviation of the initial pose estimate. If set to null, then a default value will be used internally.

Parameters:

sigmaTrans - the translational standard deviation in [m], must be nonnegative or null

Returns:

this motion

getSigmaTrans

public Double getSigmaTrans()

Returns the translational standard deviation for the initial pose estimate.

Returns:

the translational standard deviation in [m], or null if it has not been set

setSigmaRot

public LocalizeCommand setSigmaRot(Double sigmaRot)

Sets the rotational standard deviation of the initial object pose estimate. If set to null, then a default value will be used internally.

Parameters:

sigmaRot - the rotational standard deviation in [rad], must be nonnegative or null

Returns:

this motion

getSigmaRot

public Double getSigmaRot()

Returns the rotational standard deviation for the initial object pose estimate.

Returns:

the rotational standard deviation in [rad], or null if it has not been set

copy

public LocalizeCommand copy()

Specified by:

copy in interface com.kuka.command.ICommand<LocalizeCommand,ActionContainer<LocalizeCommand,NavExecutionResult>>

Specified by:

copy in class AbstractCommand<LocalizeCommand,ActionContainer<LocalizeCommand,NavExecutionResult>>