com.kuka.nav.command
Interface MotionContainer<T extends com.kuka.command.ICommand<T,?>,R extends NavExecutionResult>

Type Parameters:

T - The type of the command whose runtime information is managed by the container.

R - The type of the result which describes the reason why a container reached the finished state.

All Superinterfaces:

CommandContainer<T,R>, com.kuka.command.ICommandExecutionContainer<T,R,NavExecutionState>

All Known Subinterfaces:

RelativeMotionContainer

public interface MotionContainer<T extends com.kuka.command.ICommand<T,?>,R extends NavExecutionResult>
extends CommandContainer<T,R>

An interface describing the methods of a unit responsible for the management of the runtime information of a navigation motion.

Method Summary

MapZoneInfluence	getMapZoneInfluence()
double	getPathLengthToGoal()
double	getTimeInActive()
double	getTimeToGoal()
double	getTrackingErrorRot()
double	getTrackingErrorRotMax()
double	getTrackingErrorRotMean()
double	getTrackingErrorTrans()
double	getTrackingErrorTransMax()
double	getTrackingErrorTransMean()
double	getTravelledDistance()

Methods inherited from interface com.kuka.nav.command.CommandContainer

getTimestamp

Methods inherited from interface com.kuka.command.ICommandExecutionContainer

awaitFinalized, awaitFinalized, awaitFinished, awaitFinished, cancel, getCommand, getResult, getState

Method Detail

getTravelledDistance

double getTravelledDistance()

Returns:

the travelled distance so far in meters.

getTimeInActive

double getTimeInActive()

Returns:

the active time in seconds.

getPathLengthToGoal

double getPathLengthToGoal()

Returns:

the estimated remaining path length to the goal in meters.

getTimeToGoal

double getTimeToGoal()

Returns:

the estimated time to reach the goal in seconds.

getTrackingErrorTrans

double getTrackingErrorTrans()

Returns:

the translational distance to the planned track in meters.

getTrackingErrorRot

double getTrackingErrorRot()

Returns:

the rotational distance to the planned track in radians.

getTrackingErrorTransMax

double getTrackingErrorTransMax()

Returns:

the maximum translational distance to the planned track in meters.

getTrackingErrorRotMax

double getTrackingErrorRotMax()

Returns:

the maximum rotational distance to the planned track in radians.

getTrackingErrorTransMean

double getTrackingErrorTransMean()

Returns:

the mean translational distance to the planned track in meters.

getTrackingErrorRotMean

double getTrackingErrorRotMean()

Returns:

the mean rotational distance to the planned track in radians.

getMapZoneInfluence

MapZoneInfluence getMapZoneInfluence()

Returns:

some info whether a map zone is currently influencing this motion.