com.kuka.nav.robot
Interface MobileRobotStateSnapshot

All Known Subinterfaces:

MobileRobot, MobileRobotState

public interface MobileRobotStateSnapshot

The current state information of a mobile robot.

Method Summary

double	getBatteryState()
CommandableState	getCommandableState()
ConnectionState	getConnectionState()
int	getGraphId() Gets the id of the topology graph the robot is operating on.
int	getId()
int	getLastNodeId() Gets the id of the last topology graph node where the robot was localized.
MapInfo	getMapInfo()
String	getName()
int	getNextNodeId() Gets the ID of the next topology graph node the robot is moving to.
Pose	getPose()
Reliability	getPoseReliability()
SafetyState	getSafetyState() Returns safety state SafetyState of the robot.
MobileRobotType	getType() Returns an object representing the type of this robot.
TupleSE2	getVelocity() Provides the current velocity profile of the robot.
boolean	isBatteryCharging()
boolean	isPaused() Returns the current pause state of the robot.

Method Detail

getId

int getId()

Returns:

the unique id of this robot.

getName

String getName()

Returns:

the name of the robot.

getType

MobileRobotType getType()

Returns an object representing the type of this robot. The type contains the type id and the type name.

Returns:

the type of this robot

getConnectionState

ConnectionState getConnectionState()

Returns:

the connection state of the robot indicating if the robot is in active communication with the system.

getCommandableState

CommandableState getCommandableState()

Returns:

information whether the robot can be commanded from the robotics API.

getPose

Pose getPose()

Returns:

the current pose of the robot, as determined by the on board laser localisation.

getPoseReliability

Reliability getPoseReliability()

Returns:

the quality of the current pose estimation.

getMapInfo

MapInfo getMapInfo()

Returns:

an object containing information about the map that the robot localisation is currently using.

isBatteryCharging

boolean isBatteryCharging()

Returns:

true if the battery is charging else false.

getBatteryState

double getBatteryState()

Returns:

the state of charge of the on board batteries ([0..1]).

getSafetyState

SafetyState getSafetyState()

Returns safety state SafetyState of the robot.

Returns:

the current safety state of the robot

getVelocity

TupleSE2 getVelocity()

Provides the current velocity profile of the robot.

Returns:

the robot's velocity profile

getGraphId

int getGraphId()

Gets the id of the topology graph the robot is operating on.

If the robot is between two nodes in different graphs the id of the next node is returned.

Returns:

the graph id or <= 0 if robot is not located on a graph

getLastNodeId

int getLastNodeId()

Gets the id of the last topology graph node where the robot was localized.

Returns:

the node id or <= 0 if robot is not located on a graph

getNextNodeId

int getNextNodeId()

Gets the ID of the next topology graph node the robot is moving to. In case this equals the last node ID (and the corresponding graph ids are also equal), the robot is located at this node and not moving.

Returns:

the node id or <= 0 if robot is not located on graph

isPaused

boolean isPaused()

Returns the current pause state of the robot.

Returns:

true if the robot currently is pausing.