interface Localize
Action to make the robot localize himself in a map, previously built by a LocalizeAndMap action. Only one LocalizeAndMap or Localize action 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 this scan, the robot is localized inside his map, and his position and orientation relatively to the map origin can be retrieved, at any time, by calling `Actuation.robotFrame().computeTransform(Mapping.mapFrame())` While the action is running, the robot may autonomously look around to confirm his location.
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! |
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 localization process. It will run until the future returned by run() is canceled. abstract fun run(): Unit |
runWithLocalizationHint |
Start the localization process, and give it a hint about the robot current location relatively to the Map origin. The localization process will run until the future returned by runWithLocalizationHint() is canceled. abstract fun runWithLocalizationHint(hint: Transform!): Unit |
setOnStartedListener |
Set a OnStartedListener abstract fun |
setOnStatusChangedListener |
Set a property changed listener for status abstract fun |