com.kuka.motion
Interface IMotionContainerListener

All Known Implementing Classes:

MotionContainerListenerAdapter

public interface IMotionContainerListener

Event listener interface that provides events for the states of motions for a motion container.

Method Summary

void	containerFinished(IMotionContainer container) Invoked when all motions inside the container have been finished.
void	motionFinished(IMotionContainer container, IMotion motion) Invoked when the specified motion was finished.
void	motionStarted(IMotionContainer container, IMotion motion) Invoked when the execution of a motion was started.
void	onContainerStateChanged(IMotionContainer container, MotionContainerState state) Invoked when the motion container changed its state.

Method Detail

motionStarted

void motionStarted(IMotionContainer container,
                   IMotion motion)

Invoked when the execution of a motion was started. Since a motion can be composed of multiple other motions (for example, a Spline motion), this method might not only be called for the motion that was given to one of the methods of IMovable, but also for the other motions contained in the original motion.

For each motion that was started, a corresponding motionFinished(IMotionContainer, IMotion) event will be triggered when the motion is finished. Note however, that if a combined motion is commanded like described above, there might be multiple motionStarted(IMotionContainer, IMotion) events in a row before the first motion is finished.

Caution: Because this method is not synchronized to the motion container, the motion might already be finished by the time this method is called.

Parameters:

container - the motion container

motion - the started motion

motionFinished

void motionFinished(IMotionContainer container,
                    IMotion motion)

Invoked when the specified motion was finished.

Parameters:

container - the motion container

motion - the motion that was finished.

containerFinished

void containerFinished(IMotionContainer container)

Invoked when all motions inside the container have been finished. The container will no longer accept motions with IMotionContainer.append(IMotion).

Parameters:

container - the finished motion container

onContainerStateChanged

void onContainerStateChanged(IMotionContainer container,
                             MotionContainerState state)

Invoked when the motion container changed its state.

Caution: Because this method is not synchronized to the motion container, its current state might have progressed to another state by the time this method is called.

Parameters:

container - the motion container

state - the state that the container changed into