com.kuka.geometry
Class World

java.lang.Object
  com.kuka.geometry.SpatialObject
      com.kuka.geometry.World

All Implemented Interfaces:

IMovable

public final class World
extends SpatialObject

Spatial object representing World.

Some operations defined in SpatialObject are not applicable to World object, therefore an UnsupportedOperationException is thrown when trying to use them.

Field Summary

Fields inherited from class com.kuka.geometry.SpatialObject

PATH_SEPARATOR

Constructor Summary

World()
Default constructor.

Method Summary

void	attachTo(ObjectFrame target) Not supported for World.
void	attachTo(ObjectFrame target, Frame matchPosition) Not supported for World.
void	attachTo(ObjectFrame target, ITransformation rootDelta) Not supported for World.
void	attachWithCurrentPositionTo(ObjectFrame target) Not supported for World.
void	detach() Not supported for World.
SpatialForm	getForm() Not supported for World.
LoadData	getLoadData() Not supported for World.
IMotionContainer	move(IMotion motion) Not supported for World.
IMotionContainer	move(IMotion motion, IMotionContainerListener listener) Not supported for World.
IMotionContainer	moveAsync(IMotion motion) Not supported for World.
IMotionContainer	moveAsync(IMotion motion, IMotionContainerListener listener) Not supported for World.
void	removeForm() Not supported for World.
void	setDefaultMotionFrame(ObjectFrame defaultMotionFrame) Sets the defaultMotionFrame of the object.
void	setForm(SpatialForm form, ObjectFrame atFrame) Not supported for World.
void	setLoadData(LoadData load) Not supported for World.
void	setName(String name) Sets the name of the SpatialObject.
void	setTag(String key, Object value) Stores data under the given key.

Methods inherited from class com.kuka.geometry.SpatialObject

createFrame, createFrame, createFrame, createFrame, createFrameFrom, findRootObject, getAllChildObjects, getAllFrames, getChildObject, getChildObjects, getDefaultMotionFrame, getFrame, getFrameLock, getId, getName, getParentObject, getRootFrame, getTag, getUserParameters, hasAncestor, hasDescendant, removeFrame, setId, toString, tryGetChild

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

World

public World()

Default constructor. Instantiates a SpatialObject representing World.

Method Detail

setName

public void setName(String name)

Description copied from class: SpatialObject

Sets the name of the SpatialObject. An object name must be unique on the same hierarchy level (i.e. spatial objects under the same parent object must have unique names).

Overrides:

setName in class SpatialObject

Parameters:

name - the new name to be set. May not be null or empty.

setDefaultMotionFrame

public void setDefaultMotionFrame(ObjectFrame defaultMotionFrame)

Description copied from class: SpatialObject

Sets the defaultMotionFrame of the object. By default, the rootFrame is the defaultMotionFrame.

DefaultMotionFrame can be set only once. If set a second time IllegalStateException is thrown.

Overrides:

setDefaultMotionFrame in class SpatialObject

Parameters:

defaultMotionFrame - the default motion frame

setTag

public void setTag(String key,
                   Object value)

Description copied from class: SpatialObject

Stores data under the given key.

This data can be retrieved later from the object.

Overrides:

setTag in class SpatialObject

Parameters:

key - The key. May not be null.

value - The value. May not be null.

See Also:

SpatialObject.getTag(String)

setLoadData

public void setLoadData(LoadData load)

Not supported for World.

Overrides:

setLoadData in class SpatialObject

Parameters:

load - unused parameter

Throws:

UnsupportedOperationException

getLoadData

public LoadData getLoadData()

Not supported for World.

Overrides:

getLoadData in class SpatialObject

Returns:

this method does not return normally

Throws:

UnsupportedOperationException

attachTo

public void attachTo(ObjectFrame target)

Not supported for World.

Overrides:

attachTo in class SpatialObject

Parameters:

target - unused parameter

Throws:

UnsupportedOperationException

attachTo

public void attachTo(ObjectFrame target,
                     ITransformation rootDelta)

Not supported for World.

Overrides:

attachTo in class SpatialObject

Parameters:

target - unused parameter

rootDelta - unused parameter

Throws:

UnsupportedOperationException

attachTo

public void attachTo(ObjectFrame target,
                     Frame matchPosition)

Not supported for World.

Overrides:

attachTo in class SpatialObject

Parameters:

target - unused parameter

matchPosition - unused parameter

Throws:

UnsupportedOperationException

attachWithCurrentPositionTo

public void attachWithCurrentPositionTo(ObjectFrame target)

Not supported for World.

Overrides:

attachWithCurrentPositionTo in class SpatialObject

Parameters:

target - unused parameter

Throws:

UnsupportedOperationException

detach

public void detach()

Not supported for World.

Overrides:

detach in class SpatialObject

Throws:

UnsupportedOperationException

setForm

public void setForm(SpatialForm form,
                    ObjectFrame atFrame)

Not supported for World.

Overrides:

setForm in class SpatialObject

Parameters:

form - unused parameter

atFrame - unused parameter

Throws:

UnsupportedOperationException

removeForm

public void removeForm()

Not supported for World.

Overrides:

removeForm in class SpatialObject

Throws:

UnsupportedOperationException

getForm

public SpatialForm getForm()

Not supported for World.

Overrides:

getForm in class SpatialObject

Returns:

this method does not return normally

Throws:

UnsupportedOperationException

move

public IMotionContainer move(IMotion motion)

Not supported for World.

Specified by:

move in interface IMovable

Overrides:

move in class SpatialObject

Parameters:

motion - unused parameter

Returns:

this method does not return normally

Throws:

UnsupportedOperationException

moveAsync

public IMotionContainer moveAsync(IMotion motion)

Not supported for World.

Specified by:

moveAsync in interface IMovable

Overrides:

moveAsync in class SpatialObject

Parameters:

motion - unused parameter

Returns:

this method does not return normally

Throws:

UnsupportedOperationException

move

public IMotionContainer move(IMotion motion,
                             IMotionContainerListener listener)

Not supported for World.

Specified by:

move in interface IMovable

Overrides:

move in class SpatialObject

Parameters:

motion - unused parameter

listener - unused parameter

Returns:

this method does not return normally

Throws:

UnsupportedOperationException

moveAsync

public IMotionContainer moveAsync(IMotion motion,
                                  IMotionContainerListener listener)

Not supported for World.

Specified by:

moveAsync in interface IMovable

Overrides:

moveAsync in class SpatialObject

Parameters:

motion - unused parameter

listener - unused parameter

Returns:

this method does not return normally

Throws:

UnsupportedOperationException