com.kuka.nav.fleet.actions
Class CustomNodeActionContext

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

public final class CustomNodeActionContext
extends Object

Context object for CustomNodeAction execution. A context holds the robot executing the action, the TopologyNode at which the action has to be executed, the NodeActionExecutionType of the action, and the plan executed by the robot in which the action occurs.

Constructor Summary

CustomNodeActionContext(com.kuka.nav.robot.MobileRobot r, TopologyNode n, NodeActionExecutionType type, Plan plan, int index)
Constructor.

Method Summary

NodeActionExecutionType	getExecutionType() Gets the NodeActionExecutionType according to which the CustomNodeAction should be executed.
int	getIndex() Gets the index in this context's plan where the CustomNodeAction corresponding to this context occurs.
TopologyNode	getNode() Gets the topology graph node.
Plan	getPlan() Gets the plan in which the CustomNodeAction corresponding to this context occurs.
com.kuka.nav.robot.MobileRobot	getRobot() Gets the mobile robot resource.

Methods inherited from class java.lang.Object

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

Constructor Detail

CustomNodeActionContext

public CustomNodeActionContext(com.kuka.nav.robot.MobileRobot r,
                               TopologyNode n,
                               NodeActionExecutionType type,
                               Plan plan,
                               int index)

Constructor.

Parameters:

r - the robot

n - the node

type - the node action execution type

plan - the plan executed by the robot

index - the index at which the CustomNodeAction to be executed occurs in the plan

Method Detail

getRobot

public com.kuka.nav.robot.MobileRobot getRobot()

Gets the mobile robot resource.

Returns:

the robot resource

getNode

public TopologyNode getNode()

Gets the topology graph node.

Returns:

the node

getExecutionType

public NodeActionExecutionType getExecutionType()

Gets the NodeActionExecutionType according to which the CustomNodeAction should be executed.

Note that the execution type may not yet have been fixed for the CustomNodeAction to be executed in this context. In this case null is returned.

Returns:

the NodeActionExecutionType

getPlan

public Plan getPlan()

Gets the plan in which the CustomNodeAction corresponding to this context occurs.

Returns:

the plan

getIndex

public int getIndex()

Gets the index in this context's plan where the CustomNodeAction corresponding to this context occurs.

Returns:

the index