com.kuka.nav.fleet.actions
Class ActionConstants

java.lang.Object
  com.kuka.nav.fleet.actions.ActionConstants

public class ActionConstants
extends Object

Holds some constants for actions executed by mobile robot resources managed by the KUKA Navigation Solution's Resource Manager. This class defines mainly the key string for the parameter map of an action.

Field Summary

static String	ACTION_ACCELERATION_OVERIDE Key string for the acceleration override of the action.
static String	ACTION_BLENDING_CART Key string for the cartesian blending parameter.
static String	ACTION_CUSTOM_ID Key string for the id of the custom action.
static String	ACTION_DECELERATION_OVERRIDE Key string for the deceleration override of the action.
static String	ACTION_DURATION Key string for the estimated duration of the action.
static String	ACTION_DURATION_SECONDS_D Key string for the estimated duration of the action in seconds as double value.
static String	ACTION_EARLIEST_START Key string for the earliest start time of the action.
static String	ACTION_GOAL_ACCURACY_ROT Key string for the rotational goal accuracy of the action.
static String	ACTION_GOAL_ACCURACY_TRANS Key string for the translational goal accuracy of the action.
static String	ACTION_LIFT_COMMAND Key string for the lift command parameter.
static String	ACTION_LIFT_COMMAND_DOWN Value string for commanding a "lift down" action.
static String	ACTION_LIFT_COMMAND_UP Value string for commanding a "lift up" action.
static String	ACTION_ORIENTATION_MODE Key string for the orientation mode.
static String	ACTION_ORIENTATION_MODE_FIXED Value string Representing the fixed orientation mode.
static String	ACTION_ORIENTATION_MODE_VAR Value string representing the variable orientation mode.
static String	ACTION_PATH_NAME Key string for the name of the path a virtual path motion should move on.
static String	ACTION_PATH_RECOVERY Key string for the path recovery parameter.
static String	ACTION_PATH_RECOVERY_REC_ROT Key string for the maximum angle in radians around which the robot is allowed to turn during a recovery motion.
static String	ACTION_PATH_RECOVERY_REC_TRANS Key string for the maximum distance on the path, where the next reachable point has to be.
static String	ACTION_PATH_RECOVERY_ROT Key string for the maximum rotational distance to the path.
static String	ACTION_PATH_RECOVERY_TRANS Key string for the maximum translational distance to the path.
static String	ACTION_SOURCE_GRAPH Key string for the id of the graph the action is starting at.
static String	ACTION_SOURCE_NODE Key string for the id of the node the action is starting at.
static String	ACTION_SOURCE_X Key string for the x coordinate of the position the action is starting at.
static String	ACTION_SOURCE_Y Key string for the y coordinate of the position the action is starting at.
static String	ACTION_START_RECOVERY Key string for the start recovery parameter.
static String	ACTION_START_RECOVERY_ROT Key string for the maximum rotational distance to the start pose.
static String	ACTION_START_RECOVERY_TRANS Key string for the maximum translational distance to the start pose.
static String	ACTION_TARGET_GRAPH Key string for the id of the graph the action is arriving at.
static String	ACTION_TARGET_NODE Key string for the id of the node the action is arriving at.
static String	ACTION_TARGET_ORI_MAP Key string for the orientation of the pose the action is arriving at relative to the map.
static String	ACTION_TARGET_ORI_PATH Key string for the orientation of the pose the action is arriving at relative to the path.
static String	ACTION_TARGET_X Key string for the x coordinate of the position the action is arriving at.
static String	ACTION_TARGET_Y Key string for the y coordinate of the position the action is arriving at.
static String	ACTION_TRACKING_ACCURACY_ROT Key string for the rotational tracking accuracy of the action.
static String	ACTION_TRACKING_ACCURACY_TRANS Key string for the translational tracking accuracy of the action.
static String	ACTION_TYPE Key string for the type of the action.
static String	ACTION_TYPE_AM Value string representing an autonomous motion.
static String	ACTION_TYPE_CEA Value string representing a custom edge action.
static String	ACTION_TYPE_CNA Value string representing a custom node action.
static String	ACTION_TYPE_LIFT Value string representing a lift action.
static String	ACTION_TYPE_VL Value string representing a virtual line motion.
static String	ACTION_TYPE_VP Value string representing a virtual path motion.
static String	ACTION_VELOCITY_OVERRIDE Key string for the velocity override of the action.
static String	ACTION_WAIT Key string for boolean indicating whether the task should not be finished after the corresponding action has been completed (instead the task will stay in state executing waiting for further actions to be added).

Method Summary

Methods inherited from class java.lang.Object

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

Field Detail

ACTION_TYPE

public static final String ACTION_TYPE

Key string for the type of the action. See the See Also section for a list of possible values.

See Also:

ACTION_TYPE_VL, ACTION_TYPE_VP, ACTION_TYPE_AM, ACTION_TYPE_LIFT, ACTION_TYPE_CNA, ACTION_TYPE_CEA, Constant Field Values

ACTION_DURATION

public static final String ACTION_DURATION

Key string for the estimated duration of the action. The value type is org.joda.time.Duration.

See Also:

Constant Field Values

ACTION_EARLIEST_START

public static final String ACTION_EARLIEST_START

Key string for the earliest start time of the action. The value type is org.joda.time.DateTime.

See Also:

Constant Field Values

ACTION_SOURCE_GRAPH

public static final String ACTION_SOURCE_GRAPH

Key string for the id of the graph the action is starting at. The value type is String.

See Also:

Constant Field Values

ACTION_SOURCE_NODE

public static final String ACTION_SOURCE_NODE

Key string for the id of the node the action is starting at. The value type is String.

See Also:

Constant Field Values

ACTION_TARGET_GRAPH

public static final String ACTION_TARGET_GRAPH

Key string for the id of the graph the action is arriving at. The value type is String.

See Also:

Constant Field Values

ACTION_TARGET_NODE

public static final String ACTION_TARGET_NODE

Key string for the id of the node the action is arriving at. The value type is String.

See Also:

Constant Field Values

ACTION_TYPE_VL

public static final String ACTION_TYPE_VL

Value string representing a virtual line motion.

See Also:

ACTION_TYPE, Constant Field Values

ACTION_TYPE_VP

public static final String ACTION_TYPE_VP

Value string representing a virtual path motion.

See Also:

ACTION_TYPE, Constant Field Values

ACTION_TYPE_AM

public static final String ACTION_TYPE_AM

Value string representing an autonomous motion.

See Also:

ACTION_TYPE, Constant Field Values

ACTION_TYPE_LIFT

public static final String ACTION_TYPE_LIFT

Value string representing a lift action.

See Also:

ACTION_TYPE, Constant Field Values

ACTION_TYPE_CNA

public static final String ACTION_TYPE_CNA

Value string representing a custom node action.

See Also:

ACTION_TYPE, Constant Field Values

ACTION_TYPE_CEA

public static final String ACTION_TYPE_CEA

Value string representing a custom edge action.

See Also:

ACTION_TYPE, Constant Field Values

ACTION_SOURCE_X

public static final String ACTION_SOURCE_X

Key string for the x coordinate of the position the action is starting at. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_SOURCE_Y

public static final String ACTION_SOURCE_Y

Key string for the y coordinate of the position the action is starting at. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_TARGET_X

public static final String ACTION_TARGET_X

Key string for the x coordinate of the position the action is arriving at. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_TARGET_Y

public static final String ACTION_TARGET_Y

Key string for the y coordinate of the position the action is arriving at. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_TARGET_ORI_PATH

public static final String ACTION_TARGET_ORI_PATH

Key string for the orientation of the pose the action is arriving at relative to the path. The value type is Double and in [rad].

See Also:

Constant Field Values

ACTION_TARGET_ORI_MAP

public static final String ACTION_TARGET_ORI_MAP

Key string for the orientation of the pose the action is arriving at relative to the map. The value type is Double and in [rad].

See Also:

Constant Field Values

ACTION_VELOCITY_OVERRIDE

public static final String ACTION_VELOCITY_OVERRIDE

Key string for the velocity override of the action. The value type is Double and must be in (0.0; 1.0].

See Also:

Constant Field Values

ACTION_ACCELERATION_OVERIDE

public static final String ACTION_ACCELERATION_OVERIDE

Key string for the acceleration override of the action. The value type is Double and must be in (0.0; 1.0].

See Also:

Constant Field Values

ACTION_DECELERATION_OVERRIDE

public static final String ACTION_DECELERATION_OVERRIDE

Key string for the deceleration override of the action. The value type is Double and must be in (0.0; 1.0].

See Also:

Constant Field Values

ACTION_TRACKING_ACCURACY_TRANS

public static final String ACTION_TRACKING_ACCURACY_TRANS

Key string for the translational tracking accuracy of the action. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_TRACKING_ACCURACY_ROT

public static final String ACTION_TRACKING_ACCURACY_ROT

Key string for the rotational tracking accuracy of the action. The value type is Double and in [rad].

See Also:

Constant Field Values

ACTION_GOAL_ACCURACY_TRANS

public static final String ACTION_GOAL_ACCURACY_TRANS

Key string for the translational goal accuracy of the action. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_GOAL_ACCURACY_ROT

public static final String ACTION_GOAL_ACCURACY_ROT

Key string for the rotational goal accuracy of the action. The value type is Double and in [rad].

See Also:

Constant Field Values

ACTION_BLENDING_CART

public static final String ACTION_BLENDING_CART

Key string for the cartesian blending parameter. The value type is Double and in [m].

See Also:

Constant Field Values

ACTION_ORIENTATION_MODE

public static final String ACTION_ORIENTATION_MODE

Key string for the orientation mode. See the See Also section for a list of possible values.

See Also:

OrientationMode, ACTION_ORIENTATION_MODE_VAR, ACTION_ORIENTATION_MODE_FIXED, Constant Field Values

ACTION_ORIENTATION_MODE_VAR

public static final String ACTION_ORIENTATION_MODE_VAR

Value string representing the variable orientation mode.

See Also:

ACTION_ORIENTATION_MODE, OrientationMode.VARIABLE, Constant Field Values

ACTION_ORIENTATION_MODE_FIXED

public static final String ACTION_ORIENTATION_MODE_FIXED

Value string Representing the fixed orientation mode.

See Also:

ACTION_ORIENTATION_MODE, OrientationMode.FIXED, Constant Field Values

ACTION_PATH_NAME

public static final String ACTION_PATH_NAME

Key string for the name of the path a virtual path motion should move on. The value type is String.

See Also:

ACTION_TYPE_VP, Constant Field Values

ACTION_START_RECOVERY

public static final String ACTION_START_RECOVERY

Key string for the start recovery parameter. The value type is Boolean. If set to true start pose recovery is activated.

See Also:

ACTION_START_RECOVERY_TRANS, ACTION_START_RECOVERY_ROT, Constant Field Values

ACTION_START_RECOVERY_TRANS

public static final String ACTION_START_RECOVERY_TRANS

Key string for the maximum translational distance to the start pose. The value type is Double and in [m].

See Also:

ACTION_START_RECOVERY, Constant Field Values

ACTION_START_RECOVERY_ROT

public static final String ACTION_START_RECOVERY_ROT

Key string for the maximum rotational distance to the start pose. The value type is Double and in [rad].

See Also:

ACTION_START_RECOVERY, Constant Field Values

ACTION_PATH_RECOVERY

public static final String ACTION_PATH_RECOVERY

Key string for the path recovery parameter. The value type is Boolean. If set to true path recovery is activated.

See Also:

ACTION_PATH_RECOVERY_TRANS, ACTION_PATH_RECOVERY_ROT, ACTION_PATH_RECOVERY_REC_TRANS, ACTION_PATH_RECOVERY_REC_ROT, Constant Field Values

ACTION_PATH_RECOVERY_TRANS

public static final String ACTION_PATH_RECOVERY_TRANS

Key string for the maximum translational distance to the path. The value type is Double and in [m].

See Also:

ACTION_PATH_RECOVERY, Constant Field Values

ACTION_PATH_RECOVERY_ROT

public static final String ACTION_PATH_RECOVERY_ROT

Key string for the maximum rotational distance to the path. The value type is Double and in [rad].

See Also:

ACTION_PATH_RECOVERY, Constant Field Values

ACTION_PATH_RECOVERY_REC_TRANS

public static final String ACTION_PATH_RECOVERY_REC_TRANS

Key string for the maximum distance on the path, where the next reachable point has to be. This parameter is only relevant for differential vehicles. The value type is Double and in [m].

See Also:

ACTION_PATH_RECOVERY, Constant Field Values

ACTION_PATH_RECOVERY_REC_ROT

public static final String ACTION_PATH_RECOVERY_REC_ROT

Key string for the maximum angle in radians around which the robot is allowed to turn during a recovery motion. This parameter is only relevant for differential vehicles. The value type is Double and in [rad].

See Also:

ACTION_PATH_RECOVERY, Constant Field Values

ACTION_LIFT_COMMAND

public static final String ACTION_LIFT_COMMAND

Key string for the lift command parameter. See the See Also section for a list of possible values.

See Also:

ACTION_LIFT_COMMAND_UP, ACTION_LIFT_COMMAND_DOWN, Constant Field Values

ACTION_LIFT_COMMAND_UP

public static final String ACTION_LIFT_COMMAND_UP

Value string for commanding a "lift up" action.

See Also:

ACTION_LIFT_COMMAND, Constant Field Values

ACTION_LIFT_COMMAND_DOWN

public static final String ACTION_LIFT_COMMAND_DOWN

Value string for commanding a "lift down" action.

See Also:

ACTION_LIFT_COMMAND, Constant Field Values

ACTION_DURATION_SECONDS_D

public static final String ACTION_DURATION_SECONDS_D

Key string for the estimated duration of the action in seconds as double value. The value type is Double and in [s].

See Also:

Constant Field Values

ACTION_CUSTOM_ID

public static final String ACTION_CUSTOM_ID

Key string for the id of the custom action. The value type is String.

See Also:

Constant Field Values

ACTION_WAIT

public static final String ACTION_WAIT

Key string for boolean indicating whether the task should not be finished after the corresponding action has been completed (instead the task will stay in state executing waiting for further actions to be added). The value type is Boolean.

See Also:

Constant Field Values