com.kuka.nav.robot
Interface MobileRobot

All Superinterfaces:

Commandable, com.kuka.resource.locking.ILockable, MobileRobotLoad, MobileRobotState, MobileRobotStateSnapshot, Movable

public interface MobileRobot
extends com.kuka.resource.locking.ILockable, Movable, Commandable, MobileRobotState, MobileRobotLoad

The basic interface for a mobile robot aggregates the interfaces for the basic functions of every mobile robot.

This is a facade interface and can be used for basic control of any mobile robot.

Method Summary

<T> T	convertTo(Class<T> facadeType) Attempts to convert this mobile robot facade to another facade.
com.kuka.resource.IResource	getResource()
<T> boolean	isConvertibleTo(Class<T> facadeType) Checks whether this robot can be converted to a facade.

Methods inherited from interface com.kuka.resource.locking.ILockable

addLockListener, getLockPriority, isLocked, lock, ownsLock, removeLockListener, unlock

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

move, moveAsync

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

addCommandStateListener, addRequestStateListener, cancelAll, cancelAllCommands, cancelAllRequests, canExecute, execute, execute, executeAsync, executeAsync, getAllCommands, getAllRequests, removeCommandStateListener, removeRequestStateListener

Methods inherited from interface com.kuka.nav.robot.MobileRobotState

addStateListener, awaitUpdate, removeStateListener

Methods inherited from interface com.kuka.nav.robot.MobileRobotStateSnapshot

getBatteryState, getCommandableState, getConnectionState, getGraphId, getId, getLastNodeId, getMapInfo, getName, getNextNodeId, getPose, getPoseReliability, getSafetyState, getType, getVelocity, isBatteryCharging, isPaused

Methods inherited from interface com.kuka.nav.robot.MobileRobotLoad

addLoadListener, getLoad, getLoadTransformation, isLoadConsistent, removeLoad, removeLoadListener, setLoad, setLoad

Method Detail

getResource

com.kuka.resource.IResource getResource()

Returns:

The resource underlying the facade.

convertTo

<T> T convertTo(Class<T> facadeType)

Attempts to convert this mobile robot facade to another facade.

Type Parameters:

T - the type of the facade

Parameters:

facadeType - the type of the facade to convert to

Returns:

a different facade for the same robot

Throws:

IllegalArgumentException - if the specified facade type is incompatible with the robot

isConvertibleTo

<T> boolean isConvertibleTo(Class<T> facadeType)

Checks whether this robot can be converted to a facade.

Type Parameters:

T - the type of the facade

Parameters:

facadeType - the type of the facade to convert to

Returns:

true if this robot can be converted to the given facade type