com.kuka.nav.fleet.graph.properties
Class AbstractEdgeMaxMotionAbsProperty

java.lang.Object
  com.kuka.nav.fleet.graph.properties.AbstractProperty
      com.kuka.nav.fleet.graph.properties.AbstractEdgeMaxMotionAbsProperty

All Implemented Interfaces:

Property, Serializable

Direct Known Subclasses:

EdgeMaxAccelerationAbs, EdgeMaxDecelerationAbs, EdgeMaxVelocityAbs

public abstract class AbstractEdgeMaxMotionAbsProperty
extends AbstractProperty

Super class for maximum absolute velocity, acceleration, deceleration along an edge. This class contains the getter and setter for the parameter x, y and rotation.

See Also:

Serialized Form

Constructor Summary

AbstractEdgeMaxMotionAbsProperty()
Constructs a new max absolute acceleration / deceleration or velocity property with default values.

AbstractEdgeMaxMotionAbsProperty(Double x, Double y, Double rotation)
Creates a new max absolute acceleration / deceleration or velocity property with given values.

Method Summary

Double	getMaxTransX() Returns the max translational acceleration / deceleration or velocity on x in m/s² (/s) or null if it is not defined.
Double	getMaxTransY() Returns the max translational acceleration / deceleration or velocity in y direction in m/s² (/s) or null if it is not defined.
Double	getRotation() Returns the rotational acceleration / deceleration or velocity in radians/s² (/s).
Double	getRotationDeg() Returns the maximum rotational acceleration / deceleration or velocity in degrees/s² (/s) or null if it is not defined.
String	getValueToDisplay() Returns the value(s) in a way to show it in a UI.
com.kuka.nav.XYTheta	getXYTheta() Returns the acceleration / deceleration or velocity in a XYTheta object.
void	setMaxTransX(Double maxTransX) Sets the max translational acceleration / deceleration or velocity on x in m/s² (/s).
void	setMaxTransY(Double maxTransY) Sets the maximum translational acceleration / deceleration or velocity in Y direction in m/s² (/s) or null if it is not defined.
void	setRotation(Double rotation) Sets the rotational acceleration / deceleration or velocity in radians/s² (/s).
void	setRotationDeg(Double rotation) Sets the maximum rotational acceleration / deceleration or velocity value in degrees/s² (/s).
String	toString()

Methods inherited from class com.kuka.nav.fleet.graph.properties.AbstractProperty

equals, fireChanged, getAllowedTypes, getId, hashCode, setId, tryGetParamFromString

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

AbstractEdgeMaxMotionAbsProperty

public AbstractEdgeMaxMotionAbsProperty(Double x,
                                        Double y,
                                        Double rotation)

Creates a new max absolute acceleration / deceleration or velocity property with given values.

Parameters:

x - translational acceleration / deceleration or velocity in x direction in m/s² (m/s)

y - translational acceleration / deceleration or velocity in y direction in m/s² (m/s)

rotation - rotation acceleration / deceleration or velocity in rad/s² (rad/s)

AbstractEdgeMaxMotionAbsProperty

public AbstractEdgeMaxMotionAbsProperty()

Constructs a new max absolute acceleration / deceleration or velocity property with default values.

Method Detail

getMaxTransX

public Double getMaxTransX()

Returns the max translational acceleration / deceleration or velocity on x in m/s² (/s) or null if it is not defined.

Returns:

the maxTransX

setMaxTransX

public void setMaxTransX(Double maxTransX)

Sets the max translational acceleration / deceleration or velocity on x in m/s² (/s).

Parameters:

maxTransX - the maxTransX to set

getMaxTransY

public Double getMaxTransY()

Returns the max translational acceleration / deceleration or velocity in y direction in m/s² (/s) or null if it is not defined.

Returns:

the maxTransY

setMaxTransY

public void setMaxTransY(Double maxTransY)

Sets the maximum translational acceleration / deceleration or velocity in Y direction in m/s² (/s) or null if it is not defined.

Parameters:

maxTransY - the maxTransY to set

getRotationDeg

public Double getRotationDeg()

Returns the maximum rotational acceleration / deceleration or velocity in degrees/s² (/s) or null if it is not defined.

Returns:

the rotational acceleration in degrees/s² (/s)

setRotationDeg

public void setRotationDeg(Double rotation)

Sets the maximum rotational acceleration / deceleration or velocity value in degrees/s² (/s).

Parameters:

rotation - the rotation value in degrees/s² (/s) to be set

getRotation

public Double getRotation()

Returns the rotational acceleration / deceleration or velocity in radians/s² (/s).

Returns:

the rotation in rad/s² (/s)

setRotation

public void setRotation(Double rotation)

Sets the rotational acceleration / deceleration or velocity in radians/s² (/s).

Parameters:

rotation - the rotation to set

getXYTheta

public com.kuka.nav.XYTheta getXYTheta()

Returns the acceleration / deceleration or velocity in a XYTheta object. The units are [m/s^2, rad/s^2] for acceleration and deceleration and [m/s, rad/s] for velocity. Unset (null) directions are set to Double.POSITIVE_INFINITY.

Returns:

the values of this property in a XYTheta object.

getValueToDisplay

public String getValueToDisplay()

Description copied from interface: Property

Returns the value(s) in a way to show it in a UI.

Returns:

the values

toString

public String toString()

Overrides:

toString in class Object