com.kuka.nav.fleet
Class ChangeGraphCommand

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>
          com.kuka.nav.fleet.ChangeGraphCommand

All Implemented Interfaces:

com.kuka.command.ICommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>, com.kuka.command.IParameterizableCommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>, com.kuka.parameters.IParameterizable

public final class ChangeGraphCommand
extends com.kuka.nav.command.AbstractCommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>
implements com.kuka.command.ICommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>

Change graph command implementation.

Constructor Summary

	ChangeGraphCommand(int graphId, int nodeId) Instantiates a new change graph command to locate a robot on a graph node.
	ChangeGraphCommand(int graphId, int lastNodeId, int nextNodeId) Instantiates a new change graph command to locate a robot on a graph node or edge.
protected	ChangeGraphCommand(com.kuka.parameters.IParameterMap params) Instantiates a new change graph command with given parameters, used to clone the command.

Method Summary

ChangeGraphCommand	copy()
int	getGraphId()
int	getLastNodeId() Gets the last node ID.
int	getNextNodeId() Gets the next node ID.
ChangeGraphCommand	setGraphId(int graphId) Sets the id of the map to change to.
ChangeGraphCommand	setLastNodeId(int nodeId) Sets the last node ID.
ChangeGraphCommand	setNextNodeId(int nodeId) Sets the next node ID.

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

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.command.ICommand

getDescription, setDescription

Methods inherited from interface com.kuka.parameters.IParameterizable

getParameters

Constructor Detail

ChangeGraphCommand

public ChangeGraphCommand(int graphId,
                          int nodeId)

Instantiates a new change graph command to locate a robot on a graph node. In this special case, last and next node ID are identical.

Parameters:

graphId - the graph ID

nodeId - the node ID used to set last and next node ID

ChangeGraphCommand

public ChangeGraphCommand(int graphId,
                          int lastNodeId,
                          int nextNodeId)

Instantiates a new change graph command to locate a robot on a graph node or edge. For nodes, last and next node ID are identical while they differ for edges.

Parameters:

graphId - the graph ID

lastNodeId - the last node ID

nextNodeId - the next node ID

ChangeGraphCommand

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

Instantiates a new change graph command with given parameters, used to clone the command.

Parameters:

params - the parameters to initialize the command with

Method Detail

copy

public ChangeGraphCommand copy()

Specified by:

copy in interface com.kuka.command.ICommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>

Overrides:

copy in class com.kuka.nav.command.AbstractCommand<ChangeGraphCommand,com.kuka.nav.command.BasicCommandContainer<ChangeGraphCommand>>

setGraphId

public ChangeGraphCommand setGraphId(int graphId)

Sets the id of the map to change to.

Parameters:

graphId - the graphId

Returns:

a reference to this command

getGraphId

public int getGraphId()

Returns:

the id of the graph to change to.

setLastNodeId

public ChangeGraphCommand setLastNodeId(int nodeId)

Sets the last node ID.

Parameters:

nodeId - the last node ID

Returns:

the change graph command

setNextNodeId

public ChangeGraphCommand setNextNodeId(int nodeId)

Sets the next node ID.

Parameters:

nodeId - the next node ID

Returns:

the change graph command

getLastNodeId

public int getLastNodeId()

Gets the last node ID.

Returns:

the last node ID

getNextNodeId

public int getNextNodeId()

Gets the next node ID.

Returns:

the next node ID