com.kuka.nav.robot
Interface MobileRobotType

public interface MobileRobotType

Represents a mobile robot type.

Method Summary

com.kuka.math.geometry.Vector3D	getCenterOfMass() Returns the offset in x, y, theta of the center of mass relative to the geometric center of the robot.
TupleSE2	getCenterOfOdometry() Returns the offset in x, y, theta of the odometry center relative to the geometric center of the robot.
DriveType	getDriveType() Returns the type of drive (differential, holonomic) of this robot type.
double	getHeight() Returns the height of this robot type.
int	getId() Returns the id of this mobile robot type.
double	getMass() Returns the nominal mass (weight) of this robot type.
TupleSE2	getMaxAcceleration() Returns the maximal translational acceleration in x, y, theta of this robot type.
TupleSE2	getMaxDeceleration() Returns the maximal translational deceleration in x, y, theta of this robot type.
double	getMaxV() Returns the maximal translational velocity of this robot type.
TupleSE2	getMaxVelocity() Returns the maximal translational velocity in x, y, theta of this robot type.
String	getName() Returns the name of this mobile robot type.
com.kuka.geometry.SpatialForm	getShape() Returns the shape (contour) of the robot (as polygon or circle).

Method Detail

getId

int getId()

Returns the id of this mobile robot type.

Returns:

the id of this mobile robot type

getName

String getName()

Returns the name of this mobile robot type.

Returns:

the name of this mobile robot type

getShape

com.kuka.geometry.SpatialForm getShape()

Returns the shape (contour) of the robot (as polygon or circle).

Returns:

SpatialForm representing the shape.

getHeight

double getHeight()

Returns the height of this robot type.

Returns:

the height of this robot type.

getMass

double getMass()

Returns the nominal mass (weight) of this robot type.

Returns:

the mass (in kg.).

getCenterOfMass

com.kuka.math.geometry.Vector3D getCenterOfMass()

Returns the offset in x, y, theta of the center of mass relative to the geometric center of the robot.

Returns:

the offset (in meters).

getDriveType

DriveType getDriveType()

Returns the type of drive (differential, holonomic) of this robot type.

Returns:

string representing the type of drive.

getMaxV

double getMaxV()

Returns the maximal translational velocity of this robot type.

Returns:

the maximal velocity (in m/s).

getMaxVelocity

TupleSE2 getMaxVelocity()

Returns the maximal translational velocity in x, y, theta of this robot type.

Returns:

the maximal velocity (in m/s).

getMaxAcceleration

TupleSE2 getMaxAcceleration()

Returns the maximal translational acceleration in x, y, theta of this robot type.

Returns:

the maximal acceleration (in m/s²).

getMaxDeceleration

TupleSE2 getMaxDeceleration()

Returns the maximal translational deceleration in x, y, theta of this robot type.

Returns:

the maximal deceleration (in m/s²).

getCenterOfOdometry

TupleSE2 getCenterOfOdometry()

Returns the offset in x, y, theta of the odometry center relative to the geometric center of the robot.

Returns:

the offset (in meters).