com.kuka.nav.robot
Interface MobileRobotState

All Superinterfaces:

MobileRobotStateSnapshot

All Known Subinterfaces:

MobileRobot

public interface MobileRobotState
extends MobileRobotStateSnapshot

Main interface to the state information of a mobile robot.

Method Summary

void	addStateListener(MobileRobotStateListener listener) Adds the given listener, that is notified for state updates.
boolean	awaitUpdate(long timeoutMs) Blocks the calling thread until the robot state receives an update.
void	removeStateListener(MobileRobotStateListener listener) Removes the given listener.

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

Method Detail

awaitUpdate

boolean awaitUpdate(long timeoutMs)
                    throws InterruptedException

Blocks the calling thread until the robot state receives an update.

Parameters:

timeoutMs - the maximum time to wait in ms

Returns:

true if the state was updated, false if the timeout occurred before

Throws:

InterruptedException - if the thread is interrupted

addStateListener

void addStateListener(MobileRobotStateListener listener)

Adds the given listener, that is notified for state updates.

Parameters:

listener - a listener to be notified for state updates

removeStateListener

void removeStateListener(MobileRobotStateListener listener)

Removes the given listener.

Parameters:

listener - a listener to stop receiving state update notifications