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[pr2eus/robot-inferface.l] clarify return value policy #5

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Sep 14, 2015
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[pr2eus/robot-inferface.l] clarify return value policy #5

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13 changes: 7 additions & 6 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -823,28 +823,29 @@
;;
(:go-pos
(x y &optional (d 0)) ;; [m] [m] [degree]
"move robot toward x, y, degree and wait to reach that goal. return t if reached and nil if fail
"move robot toward x, y, degree and wait to reach that goal. return t if reached or nil if fail
the robot moves relative to current position.
using [m] and [degree] is historical reason from original hrpsys code"
(warn "subclass's responsibility for (send ~s :go-pos)~%" self))
(:go-pos-no-wait
(x y &optional (d 0)) ;; [m] [m] [degree]
"no-wait version of :go-pos"
"no-wait version of :go-pos. this function is always assumed to return t"
(warn "subclass's responsibility for (send ~s :go-pos-no-wait)~%" self))
(:go-wait
()
"wait until :go-pos-no-wait reached to the goal, return t if reached and nil if fail"
"wait until :go-pos-no-wait reached to the goal, return t if reached or nil if fail"
(warn "subclass's responsibility for (send ~s :go-wait)~%" self))
(:go-velocity
(x y d ;; [m/sec] [m/sec] [rad/sec]
&optional (msec 1000) ;; msec is total animation time [msec]
&key (stop t) (wait))
"move robot at given speed for given msec
if stop is t, robot stops after msec, use wait t for blocking call"
"move robot at given speed for given msec.
if stop is t, robot stops after msec, use wait t for blocking call
return nil if aborted while waiting by enabling :wait, otherwise return t"
(warn "subclass's responsibility for (send ~s :go-velocity)~%" self))
(:go-stop
()
"stop go-velocity"
"stop go-velocity. return t if robot successfly stops, otherwise return nil"
(warn "subclass's responsibility for (send ~s :stop)~%" self))
) ;; robot-interface
;; ros visualization methods
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