/// <summary>
/// Makes the robot move from the checkpoint to the specified grab location (A,B)
/// </summary>
/// <param name="grabLocationInfo"></param>
public void GoToGrabLocation(GrabLocationInfo grabLocationInfo)
{
using (var motionProxy = _connection.GetProxy <MotionProxy>())
{
motionProxy.moveTo(grabLocationInfo.Position.x, grabLocationInfo.Position.y, grabLocationInfo.Position.z);
}
}
/// <summary>
/// Default constructor
/// </summary>
/// <param name="ip">The robot ip</param>
/// <param name="port">The robot port</param>
/// <param name="markInfo">The checkpoint's mark information</param>
/// <param name="grabLocation">The grab location information</param>
/// <param name="logger">The logger</param>
public NaoCoopRobot(string ip, int port, WalkToLandMarkInfo markInfo, GrabLocationInfo grabLocation, ILog logger)
{
this._logger = logger;
this._connection = new NaoConnectionHelper(ip, port);
this._markInfo = markInfo;
this._grabLocationInfo = grabLocation;
/*
* if (this._connection == null || !this._connection.TestConnection())
* {
* throw new Exception("Could not connect to the Robot.");
* }
*/
this._objectHandlingExecuter = new ObjectHandlingExecuter(_connection);
this._robotSynch = new RobotSynchronization(_connection);
this.Initialize();
}
private void GoToGrabLocation()
{
GrabLocationInfo locationInfo = new GrabLocationInfo(Enums.GrabLocation.A);
this._objectHandlingExecuter.GoToGrabLocation(locationInfo);
}
