com.kuka.motion
Interface IMotionExecutor

public interface IMotionExecutor

Implementations of this motion executor interface provide synchronous and asynchronous motion execution.

Method Summary

IMotionContainer	execute(ObjectFrame motionFrame, IMotion motion, IMotionContainerListener listener) Executes the given command synchronously.
IMotionContainer	executeAsync(ObjectFrame motionFrame, IMotion motion, IMotionContainerListener listener) Executes the given motion asynchronously.

Method Detail

executeAsync

IMotionContainer executeAsync(ObjectFrame motionFrame,
                              IMotion motion,
                              IMotionContainerListener listener)

Executes the given motion asynchronously.

The method returns immediately, in other words, the method does not wait for the execution of the motion.

Parameters:

motionFrame - The frame used for motion.

motion - The motion which should be executed.

listener - event listener for the motion states for a motion container.

Returns:

The motion container.

execute

IMotionContainer execute(ObjectFrame motionFrame,
                         IMotion motion,
                         IMotionContainerListener listener)

Executes the given command synchronously.

The method returns when the motion is finished.

Parameters:

motionFrame - The frame used for motion.

motion - The motion which should be executed.

listener - event listener for the motion states for a motion container.

Returns:

The motion container.