com.ridgesoft.robotics
Interface Localizer

All Known Implementing Classes:

OdometricLocalizer

public interface Localizer

Generic interface implemented by classes that support two dimensional position tracking.

Method Summary

Pose	getPose() Gets the robot's pose (x, y position and heading).
void	setHeading(float heading) Sets the robot's current heading.
void	setPose(float x, float y, float heading) Sets the robot's current pose.
void	setPose(Pose pose) Sets the robot's current pose.
void	setPosition(float x, float y) Sets the robot's current x and y coordinates.

Method Detail

getPose

public Pose getPose()

Gets the robot's pose (x, y position and heading).

Returns:

Pose object containing the robot's current position and heading

setHeading

public void setHeading(float heading)

Sets the robot's current heading.

Parameters:

heading - heading in radians

setPose

public void setPose(float x,
                    float y,
                    float heading)

Sets the robot's current pose.

Parameters:

x - x coordiante in whatever units the localizer uses

y - y coordinate in whatever units the localizer uses

heading - heading in radians

setPose

public void setPose(Pose pose)

Sets the robot's current pose.

Parameters:

pose - a Pose object containing the new pose

setPosition

public void setPosition(float x,
                        float y)

Sets the robot's current x and y coordinates.

Parameters:

x - x coordiante in whatever units the localizer uses

y - y coordinate in whatever units the localizer uses