com.asus.robotframework.API

Class Slam

java.lang.Object

com.asus.robotframework.API.Slam

public class Slam
extends java.lang.Object

Provide SLAM function.

Method Summary

Modifier and Type	Method and Description
int	activeLocalization() Ask robot to localize actively (The robot will rotate and capture the key-frames), and return its current location.
int	activeLocalization(double searchRadius) Ask robot to localize actively (The robot will rotate and capture the key-frames), and return its current location.
int	getLocation() Ask robot's current location.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

activeLocalization

public int activeLocalization()

Ask robot to localize actively (The robot will rotate and capture the key-frames), and return its current location.

Bundle key: LOCATION - includes (x,y,heading) (Float, Float, Float) & sessionId (Int) & submapId (Int), the sessionId means the N'th scan (currently don't care since now the scan can't be interrupted, the sessionId should be always the same), and the submapId means the N'th submap, since each submap has its own coordinate, please use it together with (x,y,heading). CONFIDENCELEVEL - confidence of this result (Int), range from 0(confidence HIGH) ~ 3(confidence LOW)

Example: String tmp; Bundle bundle = result.getBundle("RESULT"); Location location = bundle.getParcelable("LOCATION"); tmp = String.format("x:%f, y:%f, heading:%f", location.coordinate.x, location.coordinate.y, location.heading); tmp = String.format("session ID: %d, submap ID: %d", location.sessionID, location.submapID); tmp = String.format("confidence level: %d", bundle.getInt("CONFIDENCELEVEL"));

Returns:

Serial number of the command.

activeLocalization

public int activeLocalization(double searchRadius)

Ask robot to localize actively (The robot will rotate and capture the key-frames), and return its current location.

Parameters:

searchRadius - the search radius to find a free point(m), the default value is 3m. Bundle key: LOCATION - includes (x,y,heading) (Float, Float, Float) & sessionId (Int) & submapId (Int), the sessionId means the N'th scan (currently don't care since now the scan can't be interrupted, the sessionId should be always the same), and the submapId means the N'th submap, since each submap has its own coordinate, please use it together with (x,y,heading). CONFIDENCELEVEL - confidence of this result (Int), range from 0(confidence HIGH) ~ 3(confidence LOW)

Example: String tmp; Bundle bundle = result.getBundle("RESULT"); Location location = bundle.getParcelable("LOCATION"); tmp = String.format("x:%f, y:%f, heading:%f", location.coordinate.x, location.coordinate.y, location.heading); tmp = String.format("session ID: %d, submap ID: %d", location.sessionID, location.submapID); tmp = String.format("confidence level: %d", bundle.getInt("CONFIDENCELEVEL"));

Returns:

Serial number of the command.

getLocation

public int getLocation()

Ask robot's current location.(The robot may localize actively or just return its location if it already knows where it is.) Bundle key: LOCATION - includes (x,y,heading) (Float, Float, Float) & sessionId (Int) & submapId (Int), the sessionId means the N'th scan (currently don't care since now the scan can't be interrupted, the sessionId should be always the same), and the submapId means the N'th submap, since each submap has its own coordinate, please use it together with (x,y,heading). CONFIDENCELEVEL - confidence of this result (Int), range from 0(confidence HIGH) ~ 3(confidence LOW)

Example: String tmp; Bundle bundle = result.getBundle("RESULT"); Location location = bundle.getParcelable("LOCATION"); tmp = String.format("x:%f, y:%f, heading:%f", location.coordinate.x, location.coordinate.y, location.heading); tmp = String.format("session ID: %d, submap ID: %d", location.sessionID, location.submapID); tmp = String.format("confidence level: %d", bundle.getInt("CONFIDENCELEVEL"));

Returns:

Serial number of the command.