com.kuka.motion
Interface IMovable

All Known Implementing Classes:

ObjectFrame, SpatialObject, World

public interface IMovable

Interface to request a move of this object.

Method Summary

IMotionContainer	move(IMotion motion) Moves this object according to the given motion.
IMotionContainer	move(IMotion motion, IMotionContainerListener listener) Moves this object according to the given motion.
IMotionContainer	moveAsync(IMotion motion) Moves this object according to the given motion.
IMotionContainer	moveAsync(IMotion motion, IMotionContainerListener listener) Moves this frame according to the given motion.

Method Detail

move

IMotionContainer move(IMotion motion)

Moves this object according to the given motion.

The motion will be performed by a robot (or some other device) that should be found in the kinematic chain between this frame and the world origin (or the destination of the specified motion). If such a robot is not found - IllegalStateException will be thrown.
If the specified motion is a cartesian motion - it is this frame that will reach the destination and/or follow the path defined by the motion. If the motion is joint specific - the motion directly affects the joints of the robot connected with this frame.

Parameters:

motion - the motion that should be executed

Returns:

the execution container containing runtime information for the execution of the motion

Throws:

IllegalStateException - if no robot that can execute the specified motion found

MotionException - if an error occurs during motion execution.

MotionExecutionException - if an error occurs during motion execution with a known motion container.

moveAsync

IMotionContainer moveAsync(IMotion motion)

Moves this object according to the given motion.

The motion will be performed by a robot (or some other device) that should be found in the kinematic chain between this frame and the world origin (or the destination of the specified motion). If such a robot is not found - IllegalStateException will be thrown.
If the specified motion is a cartesian motion - it is this frame that will reach the destination and/or follow the path defined by the motion. If the motion is joint specific - the motion directly affects the joints of the robot connected with this frame.

This is an asynchronous call and will return immediately.

Parameters:

motion - the motion that should be executed

Returns:

the execution container containing runtime information for the execution of the motion

Throws:

IllegalArgumentException - if motion is null

IllegalStateException - if no robot that can execute the specified motion found

MotionException - if an error occurs during motion execution.

move

IMotionContainer move(IMotion motion,
                      IMotionContainerListener listener)

Moves this object according to the given motion.

The motion will be performed by a robot (or some other device) that should be found in the kinematic chain between this frame and the world origin (or the destination of the specified motion). If such a robot is not found - IllegalStateException will be thrown.
If the specified motion is a cartesian motion - it is this frame that will reach the destination and/or follow the path defined by the motion. If the motion is joint specific - the motion directly affects the joints of the robot connected with this frame.

Parameters:

motion - the motion that should be executed

listener - listener for the motion container

Returns:

the execution container containing runtime information for the execution of the motion

Throws:

IllegalStateException - if no robot that can execute the specified motion found

MotionException - if an error occurs during motion execution.

MotionExecutionException - if an error occurs during motion execution with a known motion container.

moveAsync

IMotionContainer moveAsync(IMotion motion,
                           IMotionContainerListener listener)

Moves this frame according to the given motion.

The motion will be performed by a robot (or some other device) that should be found in the kinematic chain between this frame and the world origin (or the destination of the specified motion). If such a robot is not found - IllegalStateException will be thrown.
If the specified motion is a cartesian motion - it is this frame that will reach the destination and/or follow the path defined by the motion. If the motion is joint specific - the motion directly affects the joints of the robot connected with this frame.

This is an asynchronous call and will return immediately.

Parameters:

motion - the motion that should be executed

listener - listener for the motion container

Returns:

the execution container containing runtime information for the execution of the motion

Throws:

IllegalStateException - if no robot that can execute the specified motion found

MotionException - if an error occurs during motion execution.