com.kuka.nav.fineloc
Class FineLocalizationRequest

java.lang.Object
  com.kuka.nav.fineloc.FineLocalizationRequest

All Implemented Interfaces:

com.kuka.nav.command.Request<FineLocalizationContainer>

public final class FineLocalizationRequest
extends Object
implements com.kuka.nav.command.Request<FineLocalizationContainer>

Requests a robot to perform a fine localization relative to a location.

In order for the request to work, the location must have reference laser data available for the robot type commanded to execute the request. In other words the location must have been taught using a robot of that type.

In order for the request to return a reliable result, it is recommended to command it when the robot is already close to the reference location. The returned container will contain the information on whether it is rated as reliable by the navigation system.

This is a one shot request, meaning the result is ready once the request has finished.

Constructor Summary

FineLocalizationRequest(com.kuka.nav.Location location)
Creates a new fine localization request relative to the given location.

Method Summary

com.kuka.nav.Location	getLocation() Returns the location to localize the robot relative to.
FineLocalizationRequest	setLocation(com.kuka.nav.Location location) Sets the location to localize the robot relative to.

Methods inherited from class java.lang.Object

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

Constructor Detail

FineLocalizationRequest

public FineLocalizationRequest(com.kuka.nav.Location location)

Creates a new fine localization request relative to the given location.

Parameters:

location - the location to localize the robot relative to

Throws:

IllegalArgumentException - if the parameter is null

Method Detail

getLocation

public com.kuka.nav.Location getLocation()

Returns the location to localize the robot relative to.

Returns:

the location to localize the robot relative to

setLocation

public FineLocalizationRequest setLocation(com.kuka.nav.Location location)

Sets the location to localize the robot relative to.

Parameters:

location - the location to localize the robot relative to

Returns:

this request

Throws:

IllegalArgumentException - if the parameter is null