interface LocalizeAndMap
Action to make the robot explore an unknown environment, while localizing himself inside it and building a representation of this environment, known as an exploration map. Only one action among LocalizeAndMap or Localize can run at a time. When run, the robot first executes a rotating base and head scan. During this initial scan, the action needs all the robot resources to run and the action status is `Scanning`. After the scan, it is the developer's responsibility to make the robot move, and to stop the mapping when done. The developer thus has full control over the mapped area. While the action is running, the robot may autonomously look around to confirm his location. A given environment needs to be mapped once and only once. The result of this mapping can be dumped to a ExplorationMap object. Afterwards, the ExplorationMap object can be used to create a Localize action, that will enable the robot to keep track of his position relatively to the map.
Since
3
Async |
interface Async |
OnStartedListener |
Listener for started signal interface OnStartedListener |
OnStatusChangedListener |
Listener for status property changed event interface OnStatusChangedListener |
addOnStartedListener |
Add a OnStartedListener abstract fun addOnStartedListener(onStartedListener: OnStartedListener!): Unit |
addOnStatusChangedListener |
Add a property changed listener for status abstract fun addOnStatusChangedListener(onStatusChangedListener: OnStatusChangedListener!): Unit |
async |
abstract fun async(): Async! |
dumpMap |
Dump the current map, for future use by a Localize action. abstract fun dumpMap(): ExplorationMap! |
getStatus |
Exposes the property status value abstract fun getStatus(): LocalizationStatus! |
removeAllOnStartedListeners |
Remove all OnStartedListener abstract fun removeAllOnStartedListeners(): Unit |
removeAllOnStatusChangedListeners |
Remove all status changed listeners abstract fun removeAllOnStatusChangedListeners(): Unit |
removeOnStartedListener |
Remove a OnStartedListener abstract fun removeOnStartedListener(onStartedListener: OnStartedListener!): Unit |
removeOnStatusChangedListener |
Remove a property changed listener for status abstract fun removeOnStatusChangedListener(onStatusChangedListener: OnStatusChangedListener!): Unit |
run |
Start the mapping process. It will run until the future returned by run() is canceled. abstract fun run(): Unit |
setOnStartedListener |
Set a OnStartedListener abstract fun |
setOnStatusChangedListener |
Set a property changed listener for status abstract fun |