Navigation & Map & Floor

Location

There are two main use cases in regard to locations. The first is location management, and the second is location navigation. The SDK provides methods that allows developers to handle both.

Location management allows you to control temi's locations by saving, deleting, fetching and monitoring their changes, while location navigation allows you to send temi to one of those locations and monitor its navigation status while it's in motion.

Map

Map is a combination of:

• Processed lidar data from ROBOX, the algorithm core of temi
• Map elements, including locations, green paths, and virtual walls.
• Map image, a visual abstraction of map raw data for UI presentation.

A map can be loaded, switched, backed up, and cached.

Map Id

There may be some confusion as map id is referred under its context.

When reference map on algorithm wise, e.g. MapDataModel, it has a map id which is unique across algorithm map, the one from process lidar data. This id should be only used by ROBOX as an identifier, and served no other purpose.

When (SDK) users load a map, they are using the map id idenfying the combination. e.g. MapModel. This id is generated from temi cloud service when we back up a map to cloud. Thus it can be fetched from cloud, and reloaded to the robot.

Map cache

When user backups or imports a map from UI or SDK, the map combination will be cached locally for quicker access next time. So when you switching between different maps, the large map file will not be downloaded every time. Starting from 129 version, there are methods to load map from cloud to cache, also force load map from cache.

Local map backup.

From 131 version, with SDK 1.131.3, you can backup current map to you app, and load map backup from your app to temi. The whole process can be made offline, without using temi cloud services.

Navigate to Local Map Backup section for details.

Multi-Floor

From 129 version, we offered the developer access of multifloor function from SDK. This should benefit temi robots serving in complex or dynamic cartographic environments. Once enabled, all the floor APIs can be used, also a new map editor with multifloor functions will be available in temi settings.

Every floor contains a standalone map, which has all map attributes and can be created, recreated, replaced, backed up, plus the features in multifloor of like copying map from other floor. Such operations on one floor will not affect map on other floors.

All the floors and their maps are stored locally on the robot and can be switched offline until they are deleted from the user operations in the map editor.

API Overview

Return	Method	Description
boolean	saveLocation(String location)	Save location
boolean	deleteLocation(String location)	Delete location
List<String>	getLocations()	Fetch all saved locations
void	goTo()	Send temi to a specific location
void	goToPosition()	Send temi to a specific position(coordinate)
MapDataModel	getMapData()	Get the map data
void	repose(Position position)	Repositioning temi
List<MapModel>	getMapList()	Get the list of backed up map
String	loadMap(String mapId)	Load map by map ID
String	loadMap(String mapId, boolean reposeRequired, Position position, boolean offline, boolean withoutUI)	Load the map by map ID and the specific position of the target map
boolean	setMultiFloorEnabled(boolean enabled)	Enable/Disable Multi-floor function
boolean	isMultiFloorEnabled()	Check Multi-floor function
Floor	getCurrentFloor()	Get current floor data
List<Floor>	getAllFloors()	Get all floors' data
void	loadFloor(int floorId, Position position)	load target floor
Position	getPosition()	get current position
int	resetMap()	Reset map
int	finishMapping()	Finish mapping, lock the map
int	updateMapName()	Update current map name
int	continueMapping()	Continue mapping, unlock the map
int	upsertMapLayer()	Add or edit map layer
int	deleteMapLayer()	Delete map layer

Interface	Description
OnLocationsUpdatedListener	Locations updated listener
OnGoToLocationStatusChangedListener	Go to location(position) status changed listener
OnDistanceToLocationChangedListener	Distance to locations changed listener
OnCurrentPositionChangedListener	Current position changed listener
OnReposeStatusChangedListener	Listener for the status changed of repositioning
OnLoadMapStatusChangedListener	Listener for the status changed of loading map
OnDistanceToDestinationChangedListener	Listener for the distance left to the destination
OnLoadFloorStatusChangedListener	Listener for the status of switching of floor
OnRobotDragStateChangedListener	Listener for robot being dragged
OnGoToNavPathChangedListener	Listener for robot navigation path

Model	Description
Position	Position(coordinate) in the map
MapDataModel	The map data
MapImage	The map image data
Floor	The floor data

Methods

saveLocation()

Use this method to save a new location for temi. Locate temi at the location you wish to save and give it a name, the location coordinates are extracted and passed automatically in the request.

• Parameters

  Parameter	Type	Description
  location	String	Location name you wish to save

• Return

  Type	Description
  boolean	true if save successfully, false otherwise

• Prototype

  boolean saveLocation(String location);

• Required permissions

  None.

• Support from

  0.10.36

---

deleteLocation()

Use this method to delete a saved location.

• Parameters

  Parameter	Type	Description
  location	String	Location name you wish to delete

• Return

  Type	Description
  boolean	true if delete successfully, false otherwise

• Prototype

  boolean deleteLocation(String location);

• Required permissions

  None.

• Support from

  0.10.44

---

getLocations()

Use this method to fetch a list of saved locations.

• Return

  Type	Description
  List<String>	Locations list

• Prototype

  List\<String\> getLocations();

• Required permissions

  None.

• Support from

  0.10.36

---

goTo()

Use this method to send temi to one of your saved locations.

• Parameters

  Parameter	Type	Description
  location	String	Location name you wish the robot to navigate to. Use home base as location name when go back to charge.
  backwards	boolean	If true will walk backwards to the destination. false by default. Support from 0.10.80
  noByPass	boolean	If true will disallow bypass the obstacles during go to. Pass null to follow the Settings -> Navigation Settings. Support from 0.10.80
  speedLevel	SpeedLevel	The speed level of this single go to session. Pass null to start with the speed level in Settings -> Navigation Settings. Support from 0.10.80
  highAccuracyArrival	boolean	If true , temi will try to make this go to session precisly on the pose of location, Support from 1.135.1, with 135 launcher
  noRotationAtEnd	boolean	If true , temi will no rorate to the saved angle of location upon arrival, Support from 1.135.1, with 135 launcher

• Prototype

  void goTo(String location, boolean backwards, boolean noBypass, SpeedLevel speedLevel, boolean highAccuracyArrival, boolean noRotationAtEnd);

• Required permissions

  None.

• Support from

  0.10.36

---

goToPosition()

Use this method to send temi to a specific position(coordinate).

• Parameters

  Parameter	Type	Description
  position	Position	Destination coordinate. Ignore its' attribute tiltAngle in this method. Set yaw in position to 999, will cancel the rotation upon arrival.
  backwards	boolean	If true will walk backwards to the destination. false by default. Support from 0.10.80
  noByPass	boolean	If true will disallow bypass the obstacles during go to. Pass null to follow the Settings -> Navigation Settings. Support from 0.10.80
  speedLevel	SpeedLevel	The speed level of this single go to session. Pass null to start with the speed level in Settings -> Navigation Settings. Support from 0.10.80
  highAccuracyArrival	boolean	If true , temi will try to make this go to session precisly on the pose of location, Support from 1.135.1, with 135 launcher

• Prototype

  void goToPosition(Position position, boolean backwards, boolean noBypass, SpeedLevel speedLevel, boolean highAccuracyArrival);

• Required permissions

  None.

• Support from

  0.10.70

---

getMapData()

Use this method to get the map data.

This method currently(0.10.70) only supports relatively small map, we will support large map in the next version. <br/>(Fixed in version 0.10.71)

Newly added virtual walls, navigation paths and locations data in 0.10.74.

• Return

  Type	Description
  MapDataModel	The map data

• Prototype

  MapDataModel getMapData();

• Required permissions

  Map

• Support from

  0.10.70

• Note

  This method is a time-consuming operation and is recommended to be used in a non-main thread. For more details please refer to the Sampe code.

---

repose()

Use this method to start repositioning if temi has lost his position(Caused by being lifted, dragged, etc.).

• Parameters

  Parameter	Type	Description
  position	Position	Added in 134 version, optional, default is null. Assign a position to repose upon

• Prototype

  void repose(Position position);

• Required permissions

  None.

• Support from

  0.10.72

---

getMapList()

Use this method to get the list of the backed up maps.

• Return

  Type	Description
  List<MapModel>	List of maps

• Prototype

  List\<MapModel\> getMapList();

• Required permissions

  Map

• Support from

  0.10.74

---

loadMap()

Use this method to load the map by map ID.

• Parameters

  Parameter	Type	Description
  mapId	String	ID of the map backup in MapModel

• Return

  Type	Description
  String	Request id. In the format of UUID, e.g. 538b44c9-fdcf-426a-9693-d72e9c0f9550. Used in onLoadMapStatusChanged callback to track load map result. Supported from 129 version, otherwise void is returned

• Prototype

  String loadMap(String mapId);

• Required permissions

  Map

• Support from

  0.10.74

---

loadMap()

Use this method to load the map by map ID and the specific position of the target map.

Only map Id is required, other parameters are optional with default values set.

• Parameters

  Parameter	Type	Description
  mapId	String	ID of the map backup in MapModel
  reposeRequired	boolean	Need to do repose after loading map or not, default as false
  position	Position	The position of robot on the target map to loading the map. If not set, target map will be loaded from home base. Default as null
  offline	boolean	Skip fetching the latest map data of target mapId and use local cache instead, default as false. Supported from 129 version
  withoutUI	boolean	Load the map in the background without showing any blocking UI, default as false. Supported from 129 version

• Return

  Type	Description
  String	Request id. In the format of UUID, e.g. 538b44c9-fdcf-426a-9693-d72e9c0f9550. Used in onLoadMapStatusChanged callback to track load map result. Supported from 129 version, otherwise void is returned

• Prototype

  String loadMap(String mapId, boolean reposeRequired, Position position, boolean offline, boolean withoutUI);

• Required permissions

  Map

• Support from

  0.10.76

---

setMultiFloorEnabled()

Enable/Disable Multi-floor function

• Parameters

  Parameter	Type	Description
  enabled	boolean	true to enable，false to disable

• Return

  Type	Description
  boolean	true if set, false if failed

• Prototype

   boolean setMultiFloorEnabled(boolean enabled);

• Required permissions

  MAP, SETTINGS

• Support from

  1.129.0

---

isMultiFloorEnabled()

Check Multi-floor function

• Return

  Type	Description
  boolean	true if enabled, false if not, null if Robot in not initiated

• Prototype

   boolean isMultiFloorEnabled();

• Required permissions

  None.

• Support from

  1.129.0

---

getCurrentFloor()

Get current floor data

• Return

  Type	Description
  Floor	Current floor data, null if service is not initiated, or lack of permission, or no floor data

• Prototype

    Floor getCurrentFloor();

• Required permissions

  MAP

• Support from

  1.129.0

---

getAllFloors()

Get all floors' data

• Return

  Type	Description
  List<Floor>	All floors' data, empty if service is not initiated, or lack of permission, or no floor data

• Prototype

    List\<Floor\> getAllFloors();

• Required permissions

  MAP

• Support from

  1.129.0

---

loadFloor()

load target floor

• Parameters

  Parameter	Type	Description
  floorId	int	floor id
  position	Position	Position in map on the target floor to be loaded from

• Prototype

    void loadFloor(int floorId, Position position);

• Required permissions

  MAP

• Support from

  1.129.0

---

getPosition()

get current position

• Return

  Type	Description
  Position	Get current position, will return Position(0, 0, 0, 0) if failed.

• Prototype

    Position getPosition();

• Required permissions

  NONE

• Support from

  1.133.0

---

resetMap()

Reset current map or reset all floors

• Parameters

  Parameter	Type	Description
  allFloor	boolean	true to reset all floors

• Return

  Type	Description
  int	0 not supported，200 succeed，400 invalid operation，403 permission required，408 timeout

• Prototype

    int resetMap(boolean allFloor);

• Required permissions

  MAP

• Support from

  1.134.0

---

finishMapping()

Finish mapping, lock the map

• Parameters

  Parameter	Type	Description
  mapName	String	an optional map name, default as null

• Return

  Type	Description
  int	0 not supported，200 succeed，304 map already locked, 400 invalid operation，403 permission required，408 timeout

• Prototype

    int finishMapping(String mapName);

• Required permissions

  MAP

• Support from

  1.134.0

---

updateMapName()

Update current map name

• Parameters

  Parameter	Type	Description
  mapName	String	map name

• Return

  Type	Description
  int	0 not supported，200 succeed，400 invalid operation，403 permission required，429 too many requests, wait 2s

• Prototype

    int updateMapName(String mapName);

• Required permissions

  MAP

• Support from

  1.134.0

---

continueMapping()

Continue mapping, unlock the map

• Return

  Type	Description
  int	0 not supported，200 succeed，304 map already unlocked，400 invalid operation，403 permission required，408 timeout，429 too many requests, wait 5s

• Prototype

    int continueMapping();

• Required permissions

  MAP

• Support from

  1.134.0

---

upsertMapLayer()

Add or edit map layer, if layerId exists then update, otherwise create new layer.

• Parameters

  Parameter	Type	Description
  layer	Layer	map layer

• Return

  Type	Description
  int	0 not supported，200 succeed，400 invalid operation，403 permission required，413 contains layer pose out of map

• Prototype

    int upsertMapLayer(Layer layer);

• Required permissions

  MAP

• Support from

  1.134.0

---

deleteMapLayer()

Delete map layer, only support Green path and Virtual wall.

• Parameters

  Parameter	Type	Description
  layerId	String	map layer id
  layerCategory	int	map layer category

• Return

  Type	Description
  int	0 not supported，200 succeed，400 invalid operation，403 permission required，404 target layer doesn't exist

• Prototype

    int deleteMapLayer(String layerId, int LayerCategory);

• Required permissions

  MAP

• Support from

  1.134.0

Interfaces

OnLocationsUpdatedListener

Set your context to implement this listener and add the override method to get the list of saved locations every time it changes.

Prototype

package com.robotemi.sdk.listeners;

interface OnLocationsUpdatedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  locations	List<String>	All saved locations list

• Prototype

  abstract void onLocationsUpdated(List\<String\> locations)

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnLocationsUpdatedListener	An instance of a class that implements this interface

• Prototype

  void addOnLocationsUpdatedListener(OnLocationsUpdatedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnLocationsUpdatedListener	An instance of a class that implements this interface

• Prototype

  void removeOnLocationsUpdatedListener(OnLocationsUpdatedListener listener);

• Support from

  0.10.36

---

OnGoToLocationStatusChangedListener

Set your context to implement this listener and add the override method to get navigation information regarding temi's go to location action.

Prototype

package com.robotemi.sdk.listeners;

interface OnGoToLocationStatusChangedListener {}

Static constants

Constant	Type	Value	Description
START	String	"start"	Navigation to the location has started
CALCULATING	String	"calculating"	Calculating the route to the location
GOING	String	"going"	Calculated the route and is on its' way
COMPLETE	String	"complete"	Arrived at the desired location
ABORT	String	"abort"	Navigation aborted
REPOSING	String	"reposing"	Reposing during the navigation

Abstract methods

• Parameters

  Parameter	Type	Description
  location	String	The name of the location temi is navigating to
  status	String	Navigation status
  descriptionId	int	Numerical code that reflects the description of the status
  description	String	Verbose more informative description of the navigation status (Such as obstacle info)

• DescriptionId 对应内容

  DescriptionId	Description
  500	"Complete"
  0	"Abort General"
  1003	"Abort no movement"
  1004	"Abort timeout"
  1005	"Abort by user"
  1006	"Abort out of map bounds"
  1060	"Path Plan"
  2000	"Obstacle"
  2001	"Ground Obstacle"
  2002	"Hight Obstacle"
  2003	"Lidar Obstacle"
  2004	"Front Obstacle"
  2005	"Back Obstacle"
  2006	"Abyss Obstacle"
  2007	"Virtual Wall Obstacle"
  2008	"Cliff Detected"
  2009	"Stuck Wheel"
  1020- 1050	"Calculating"
  5000- 5021	"Calculating"
  10007	"Going"
  10008	"Path Planing" // Added in 134 version
  10009	"Docking" // Added in 134 version
  -	"Unknown"

• Prototype

  void onGoToLocationStatusChanged(String location, String status, int descriptionId, String description);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnGoToLocationStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnGoToLocationStatusChangedListener(OnGoToLocationStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnGoToLocationStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnGoToLocationStatusChangedListener(OnGoToLocationStatusChangedListener listener);

• Support from

  0.10.36

---

OnDistanceToLocationChangedListener

Set your context to implement this listener and add the override method to get the distances to saved locations.

Prototype

package com.robotemi.sdk.navigation.listener;

interface OnDistanceToLocationChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  distances	Map<String, Float>	A key-value pair collection with String type key(location name) and Float type value(distance)

• Prototype

  void onDistanceToLocationChanged(Map\<String, Float\> distances);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnDistanceToLocationChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnDistanceToLocationChangedListener(OnDistanceToLocationChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnDistanceToLocationChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnDistanceToLocationChangedListener(OnDistanceToLocationChangedListener listener);

• Support from

  0.10.70

---

OnCurrentPositionChangedListener

Set your context to implement this listener and add the override method to get current position information.

Prototype

package com.robotemi.sdk.navigation.listener;

interface OnCurrentPositionChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  position	Position	Current position

• Prototype

  void onCurrentPositionChanged(Position position);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnCurrentPositionChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnCurrentPositionChangedListener(OnCurrentPositionChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnCurrentPositionChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnCurrentPositionChangedListener(OnCurrentPositionChangedListener listener);

• Support from

  0.10.70

---

OnReposeStatusChangedListener

Set your context to implement this listener and add the override method to listen to the status changes of repositioning.

Prototype

package com.robotemi.sdk.navigation.listener;

interface OnReposeStatusChangedListener {}

Static constant

All constants here are only for the status of repositioning.

Constant	Type	Value	Description
IDLE	int	0	Idle
REPOSE_REQUIRED	int	1	Ready to reposition
REPOSING_START	int	2	Reposition started
REPOSING_GOING	int	3	Repositioning
REPOSING_COMPLETE	int	4	Reposition completed
REPOSING_OBSTACLE_DETECTED	int	5	Obstacle detected during repositioning
REPOSING_ABORT	int	6	Reposition abort

Abstract methods

• Parameters

  Parameter	Type	Description
  status	int	Status of reposition
  description	String	Description of status

• Prototype

  void onReposeStatusChanged(int status, String description);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnReposeStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnReposeStatusChangedListener(OnReposeStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnReposeStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnReposeStatusChangedListener(OnReposeStatusChangedListener listener);

• Support from

  0.10.72

---

OnLoadMapStatusChangedListener

Set your context to implement this listener and add the override method to listen to the status changes of loading map.

Prototype

package com.robotemi.sdk.map;

interface OnLoadMapStatusChangedListener {}

Static constant

All constants here are only for the status of loading map.

Constant	Type	Value	Description
COMPLETE	int	0	Complete
START	int	1	Start
ERROR_UNKNOWN	int	1000	Unknown error
ERROR_ABORT_FROM_ROBOX	int	2000	Abort by Robox
ERROR_ABORT_ON_NOT_CHARGING	int	2001	Loading without charging
ERROR_ABORT_BUSY	int	2002	temi is on another blocking task
ERROR_ABORT_ON_TIMEOUT	int	3000	Timeout
ERROR_PB_STREAM_FILE_INVALID	int	4000	Invalid PB file
ERROR_GET_MAP_DATA	int	5000	Get error while getting map data from remote

Abstract methods

• Parameters

  Parameter	Type	Description
  status	int	Status of loading map
  requestId	String	Request id obtained from loadMap(), Supported from 129.

• Prototype

  void onLoadMapStatusChanged(int status, String requestId);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnLoadMapStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnLoadMapStatusChangedListener(OnLoadMapStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnLoadMapStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnLoadMapStatusChangedListener(OnLoadMapStatusChangedListener listener);

• Support from

  0.10.74

OnDistanceToDestinationChangedListener

Set your context to implement this listener and add the override method to get the distance to the destination.

Prototype

package com.robotemi.sdk.navigation.listener;

interface OnDistanceToDestinationChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  location	String	Location name of the destination
  distance	float	Distance to the destination

• Prototype

  void onDistanceToDestinationChanged(location: String, distance: Float);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnDistanceToDestinationChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnDistanceToDestinationChangedListener(OnDistanceToDestinationChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnDistanceToDestinationChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnDistanceToDestinationChangedListener(OnDistanceToDestinationChangedListener listener);

• Support from

  0.10.80

OnLoadFloorStatusChangedListener

Set your context to implement this listener and add the override method to get the status for loading.

Prototype

package com.robotemi.sdk.map;

interface OnLoadFloorStatusChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  status	int	0 complete1 start-1 error

• Prototype

  void onLoadFloorStatusChanged(int status);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnLoadFloorStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnLoadFloorStatusChangedListener(OnLoadFloorStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnLoadFloorStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnLoadFloorStatusChangedListener(OnLoadFloorStatusChangedListener listener);

• Support from

  1.129.0

OnRobotDragStateChangedListener

A callback to notify robot is being dragged when itself is not in a movement state.

Prototype

package com.robotemi.sdk.listeners;

interface OnRobotDragStateChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  isDragged	Boolean	true being dragged

• Prototype

  void onRobotDragStateChanged(Boolean isDragged);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnRobotDragStateChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnRobotDragStateChangedListener(OnRobotDragStateChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnRobotDragStateChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnRobotDragStateChangedListener(OnRobotDragStateChangedListener listener);

• Support from

  1.130.1

OnGoToNavPathChangedListener

A callback to notify robot‘s path plan on navigation.

Prototype

package com.robotemi.sdk.listeners;

interface OnGoToNavPathChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  path	List<LayerPose>	The path from current postion to destination

• Prototype

  void onGoToNavPathChanged(List\<LayerPose\> path);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnGoToNavPathChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnGoToNavPathChangedListener(OnGoToNavPathChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnGoToNavPathChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnGoToNavPathChangedListener(OnGoToNavPathChangedListener listener);

• Support from

  1.134.0

Models

Position

Used to hold the position information.

Prototype

package com.robotemi.sdk.navigation.model;

class Position {}

Attributes

Attribute	Type	Description
x	float	Position coordinate x
y	float	Position coordinate y
yaw	float	Will be round to [-π, π], 0 degree is the direction of robot when map is reset on home base
tiltAngle	int	Head tilt angle

---

MapDataModel

Used to hold the map data.

Prototype

package com.robotemi.sdk.map;

class MapDataModel {}

Attributes

Attribute	Type	Description
mapImage	MapImage	The map image data
mapId	String	Map ID, this is the identifier of map data, which is different from id in MapModel, which is used to identify map backups
mapInfo	MapInfo	Map information
virtualWalls	List<Layer>	Layer collection of virtual walls
greenPaths	List<Layer>	Layer collection of navigation paths
locations	List<Layer>	Layer collection of locations
mapName	String	Current map name (added in 130 version)

MapImage

Used to hold the map image data.

Prototype

package com.robotemi.sdk.map;

class MapImage {}

Attributes

Attribute	Type	Description
typeId	String	-
rows	int	The size of the rows of the map data matrix
cols	int	The size of the columns of the map data matrix
dt	String	-
data	List<Integer>	The one-dimensional array converted from map data matrix

MapInfo

Used to hold the map information.

Prototype

package com.robotemi.sdk.map;

class MapInfo {}

Attributes

Attribute	Type	Description
height	int	height
width	int	width
originX	float	Origin coordinate x
originY	float	Origin coordinate y
resolution	float	Resolution

Layer

Used to hold the map layer data.

Prototype

package com.robotemi.sdk.map;

class Layer {}

Attributes

Attribute	Type	Description
layerCreationUTC	int	Timestamp of creating the layer
layerCategory	int	Layer category
layerId	String	Layer ID
layerThickness	float	Layer thickness
layerStatus	int	Layer status
layerPoses	List<LayerPose>	Coordinate collection of the layer
layerDirection	int	Direction of virtual wall layer, value can be -1, 0, 1. Added in 1.132.1 version.
layerData	String	String data of layer, added in 1.133.0 version to support MapEraser layer.

LayerPose

Used to hold the coordinate data that make up the map layer.

Prototype

package com.robotemi.sdk.map;

class LayerPose {}

Attributes

Attribute	Type	Description
x	float	Coordinate x
y	float	Coordinate y
theta	float	-

MapDataModelKt

Prototype

package com.robotemi.sdk.map;

class MapDataModelKt {}

Static constant

Layer category

Constant	Type	Value	Description
GREEN_PATH	int	0	Navigation path
VIRTUAL_WALL	int	3	Virtual wall
LOCATION	int	4	Location
MAP_ERASER	int	6	Map eraser

Layer status

Constant	Type	Value	Description
STATUS_CURRENT	int	0
STATUS_UPDATE	int	1
STATUS_ADD_POSE	int	2
STATUS_DELETE	int	3

MapModel

Used to hold the map information of the backed up map list.

Prototype

package com.robotemi.sdk.map;

class MapModel {}

Attributes

Attribute	Type	Description
id	String	ID of the map backup
name	String	Name of the map

Floor

Used to hold the information of the floor.

Prototype

package com.robotemi.sdk.map;

class Floor {}

Attributes

Attribute	Type	Description
id	String	ID of the floor
name	String	Name of the floor
mapId	String	mapId of the floor, this is the one from MapDataModel
locations	List <Location>	locations on the floor