com.kuka.nav.command
Class Motion<T extends Motion<T,E>,E extends MotionContainer<T,?>>

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<T,E>
          com.kuka.nav.command.Motion<T,E>

Type Parameters:

T - type of the implementing command

E - type of the command execution container used for this command.

All Implemented Interfaces:

com.kuka.command.ICommand<T,E>, com.kuka.command.IParameterizableCommand<T,E>, com.kuka.parameters.IParameterizable

Direct Known Subclasses:

RelativeMotion

public abstract class Motion<T extends Motion<T,E>,E extends MotionContainer<T,?>>
extends AbstractCommand<T,E>

Base class for mobile robot motions with dynamic parameters.

Constructor Summary

protected	Motion(Class<T> paramType) Creates a new command with the given type.
protected	Motion(com.kuka.parameters.IParameterMap params) Copy constructor.

Method Summary

XYTheta	getAcceleration() Gets the maximum velocity the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.
XYTheta	getAccelerationOverride() Gets the acceleration override of the motion as a factor to the maximum acceleration between 0 and 1 for the X-, Y- and Theta-motion components.
XYTheta	getDeceleration() Gets the maximum deceleration the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.
XYTheta	getDecelerationOverride() Gets the deceleration override of the motion as a factor to the maximum deceleration between 0 and 1 for the X-, Y- and Theta-motion components.
double	getMaxAcceleration() Deprecated. Motion parameterization was expanded to configure x, y and theta override values separately. Use getAccelerationOverride() instead.
double	getMaxDeceleration() Deprecated. Motion parameterization was expanded to configure x, y and theta override values separately. Use getDecelerationOverride() instead.
double	getMaxVelocity() Deprecated. Motion parameterization was expanded to configure x, y and theta override values separately. Use getVelocityOverride() instead.
int	getTimeout() Gets the timeout of the motion.
XYTheta	getVelocity() Gets the maximum velocity the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.
XYTheta	getVelocityOverride() Gets the velocity override of the motion as a factor to the maximum velocity between 0 and 1 for the X-, Y- and Theta-motion components.
T	setAcceleration(XYTheta xyt) Sets the maximum acceleration of the motion as a absolute values in meters per second squared for the X-, Y- and Theta-motion components.
T	setAccelerationOverride(XYTheta xyt) Sets the acceleration override of the motion as a factor to the maximum acceleration between 0 and 1 for the X-, Y- and Theta-motion components.
T	setDeceleration(XYTheta xyt) Sets the maximum deceleration of the motion as absolute values in meters per second squared for the X-, Y- and Theta-motion components.
T	setDecelerationOverride(XYTheta xyt) Sets the deceleration override of the motion as a factor to the maximum deceleration between 0 and 1 for the X-, Y- and Theta-motion components.
T	setMaxAcceleration(double acceleration) Deprecated. This function is inconsistent with recently added functionality. Use setAccelerationOverride(XYTheta) instead.
T	setMaxDeceleration(double deceleration) Deprecated. This function is inconsistent with recently added functionality. Use setDecelerationOverride(XYTheta) instead.
T	setMaxVelocity(double velocity) Deprecated. this function is inconsistent with recently added functionality. Use setVelocityOverride(XYTheta) instead.
T	setTimeout(int timeout) Sets the timeout of the motion.
T	setVelocity(XYTheta xyt) Sets the maximum velocity of the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.
T	setVelocityOverride(XYTheta xyt) Sets the velocity override of the motion as a factor to the maximum velocity between 0 and 1 for the X-, Y- and Theta-motion components.

Methods inherited from class com.kuka.nav.command.AbstractCommand

copy, getDescription, self, setDescription

Methods inherited from class com.kuka.nav.command.AbstractParameterizable

getParameters, paramHelper

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.parameters.IParameterizable

getParameters

Constructor Detail

Motion

protected Motion(Class<T> paramType)

Creates a new command with the given type.

Parameters:

paramType - the parameter type

Motion

protected Motion(com.kuka.parameters.IParameterMap params)

Copy constructor. Creates a mew instance of the class containing the deep copy of the specified parameter map.

Parameters:

params - parameter map containing the command parameters.

Method Detail

setMaxVelocity

@Deprecated
public final T setMaxVelocity(double velocity)

Deprecated. this function is inconsistent with recently added functionality. Use setVelocityOverride(XYTheta) instead.

Sets the MAX_VELOCITY parameter of the motion. This velocity corresponds to the velocity of the mobile platform motion as percentage of the platform's max. velocity.

Parameters:

velocity - The velocity as percentage of the platform's max. velocity.

The value must be greater than 0 and smaller or equal to 1. 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

reference to this object (fluent interface).

Throws:

IllegalArgumentException - if velocity is not between 0 and 1.

getMaxVelocity

@Deprecated
public final double getMaxVelocity()

Deprecated. Motion parameterization was expanded to configure x, y and theta override values separately. Use getVelocityOverride() instead.

Gets the maximum velocity override component of the motion.

0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

The velocity of the motion.

setVelocityOverride

public final T setVelocityOverride(XYTheta xyt)

Sets the velocity override of the motion as a factor to the maximum velocity between 0 and 1 for the X-, Y- and Theta-motion components.

Parameters:

xyt - override factors for each motion component between 0 and 1

Returns:

this object

getVelocityOverride

public final XYTheta getVelocityOverride()

Gets the velocity override of the motion as a factor to the maximum velocity between 0 and 1 for the X-, Y- and Theta-motion components.

Parameters:

xyt - override factors for each motion component between 0 and 1

Returns:

velocity override values

setMaxAcceleration

@Deprecated
public final T setMaxAcceleration(double acceleration)

Deprecated. This function is inconsistent with recently added functionality. Use setAccelerationOverride(XYTheta) instead.

Sets the MAX_ACCELERATION parameter of the motion. This acceleration corresponds to the acceleration of the mobile platform motion as percentage of the platform's max. acceleration.

Parameters:

acceleration - The acceleration as percentage of the platform's max. acceleration.

The value must be greater than 0 and smaller or equal to 1. 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

This motion (fluent interface).

Throws:

IllegalArgumentException - if acceleration is not between 0 and 1.

getMaxAcceleration

@Deprecated
public final double getMaxAcceleration()

Deprecated. Motion parameterization was expanded to configure x, y and theta override values separately. Use getAccelerationOverride() instead.

Gets the maximum acceleration override component of the motion.

0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

The acceleration of the motion.

setAccelerationOverride

public final T setAccelerationOverride(XYTheta xyt)

Sets the acceleration override of the motion as a factor to the maximum acceleration between 0 and 1 for the X-, Y- and Theta-motion components.

Parameters:

xyt - override factors for each motion component between 0 and 1

Returns:

this object

getAccelerationOverride

public final XYTheta getAccelerationOverride()

Gets the acceleration override of the motion as a factor to the maximum acceleration between 0 and 1 for the X-, Y- and Theta-motion components.

Parameters:

xyt - override factors for each motion component between 0 and 1

Returns:

acceleration override values

setMaxDeceleration

@Deprecated
public final T setMaxDeceleration(double deceleration)

Deprecated. This function is inconsistent with recently added functionality. Use setDecelerationOverride(XYTheta) instead.

Sets the MAX_DECELERATION parameter of the motion. This deceleration corresponds to the deceleration of the mobile platform motion as percentage of the platform's max. deceleration.

Parameters:

deceleration - The deceleration as percentage of the platform's max. deceleration.

The value must be greater than 0 and smaller or equal to 1. 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

This motion (fluent interface).

Throws:

IllegalArgumentException - if deceleration is not between 0 and 1.

getMaxDeceleration

public final double getMaxDeceleration()

Deprecated. Motion parameterization was expanded to configure x, y and theta override values separately. Use getDecelerationOverride() instead.

Gets the maximum deceleration override component of the motion.

0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Returns:

The deceleration of the motion.

setDecelerationOverride

public final T setDecelerationOverride(XYTheta xyt)

Sets the deceleration override of the motion as a factor to the maximum deceleration between 0 and 1 for the X-, Y- and Theta-motion components.

Parameters:

xyt - override factors for each motion component between 0 and 1

Returns:

this object

getDecelerationOverride

public final XYTheta getDecelerationOverride()

Gets the deceleration override of the motion as a factor to the maximum deceleration between 0 and 1 for the X-, Y- and Theta-motion components.

Returns:

deceleration override values

setVelocity

public final T setVelocity(XYTheta xyt)

Sets the maximum velocity of the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.

Parameters:

xyt - maximum velocity for each motion component in m/s

Returns:

this object

getVelocity

public final XYTheta getVelocity()

Gets the maximum velocity the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.

Returns:

maximum velocity for each motion component in m/s

setAcceleration

public final T setAcceleration(XYTheta xyt)

Sets the maximum acceleration of the motion as a absolute values in meters per second squared for the X-, Y- and Theta-motion components.

Parameters:

xyt - maximum acceleration for each motion component in m/s²

Returns:

this object

getAcceleration

public final XYTheta getAcceleration()

Gets the maximum velocity the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.

Returns:

maximum acceleration for each motion component in m/s²

setDeceleration

public final T setDeceleration(XYTheta xyt)

Sets the maximum deceleration of the motion as absolute values in meters per second squared for the X-, Y- and Theta-motion components.

Parameters:

xyt - maximum deceleration for each motion component in m/s²

Returns:

this object

getDeceleration

public final XYTheta getDeceleration()

Gets the maximum deceleration the motion as absolute values in meters per second for the X-, Y- and Theta-motion components.

Returns:

maximum deceleration for each motion component in m/s²

setTimeout

public final T setTimeout(int timeout)

Sets the timeout of the motion. Must be greater than 0.

Parameters:

timeout - The timeout of the motion in seconds

Returns:

This motion (fluent interface).

Throws:

IllegalArgumentException - if timeout is not greater than 0.

getTimeout

public final int getTimeout()

Gets the timeout of the motion.

Returns:

The timeout in seconds