com.kuka.nav.command
Interface BlendableMotion<T extends Motion<T,?>>

Type Parameters:

T - the type of the motion

public interface BlendableMotion<T extends Motion<T,?>>

Interface for blendable motions.

Method Summary

double	getBlendingCart() Returns the absolute blending value set for this motion in [m].
T	setBlendingCart(double value) Sets the absolute blending value for this motion in [m].

Method Detail

getBlendingCart

double getBlendingCart()

Returns the absolute blending value set for this motion in [m]. If no blending was specified for this motion 0 is returned.

Returns:

the absolute blending value set for this motion in [m]

setBlendingCart

T setBlendingCart(double value)

Sets the absolute blending value for this motion in [m].

The specified value is a maximal value for the motion, however it is possible that it will not be reached during the execution of the motion because of other motion planning restrictions.
When blending is used with an execute(), or an executeAsync() command and the next motion command does not come in time to be included in the path planning, the motion will stop at the computed blending point (w.r.t. the blending value). The motion will stay in a paused state until a next blendable motion is commanded.

Parameters:

value - the absolute blending value for this motion in [m]. This value must be positive or zero. 0 = no blending, the motion will stop at the destination. Values between 0 and 0.05 will be treated as "no blending". However, the value will be reduced internally to half the length of the shortest involved motion (this motion and next motion) in case it is bigger.

Returns:

This motion

Throws:

IllegalArgumentException - if absolute blending value is less than 0