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

java.lang.Object
  com.kuka.nav.fleet.graph.properties.AbstractProperty
      com.kuka.nav.fleet.graph.properties.AbstractEdgeMotionProperty
          com.kuka.nav.fleet.graph.properties.AbstractGoalBasedMotionProperty

All Implemented Interfaces:

EdgeGoalBasedMotion, EdgeMotion, Property, Serializable

public abstract class AbstractGoalBasedMotionProperty
extends AbstractEdgeMotionProperty
implements EdgeGoalBasedMotion

Base class for all goal based motion properties that define maximum values for velocity, accelearation, and deceleration, as well as a required goal accuracy.

See Also:

Serialized Form

Constructor Summary

AbstractGoalBasedMotionProperty()

Method Summary

String	getGoalAccuracy() Gets the goal accuracy.
Double	getGoalAccuracyRot() Gets the rotational goal accuracy in rad.
Double	getGoalAccuracyTrans() Gets the translational goal accuracy in meters.
void	setGoalAccuracy(String goalAccuracy) Sets the goal accuracy.

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

getClosestPointOnMotion, getGoalOrientations, getGoalOris, getLineOris, getMotions, getPathOrientations, getRelativeGoalOrientations, getRelativeStartOrientations, getStartOrientations, getValueToDisplay, setGoalOris, setLineOris, 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

Methods inherited from interface com.kuka.nav.fleet.graph.properties.EdgeMotion

blocksCompleteEdge, computeBlendingPoses, getBlendingContext, getClosestPointOnMotion, getCopyWithOrientation, getGoalOrientations, getMotions, getPathOrientations, getRelativeGoalOrientations, getRelativeStartOrientations, getStartOrientations, isBlendingSupported, isReachableOrientation, isRecoverable, isRotationAllowed

Methods inherited from interface com.kuka.nav.fleet.graph.properties.Property

getAllowedTypes, getId, getValueToDisplay, setId

Constructor Detail

AbstractGoalBasedMotionProperty

public AbstractGoalBasedMotionProperty()

Method Detail

getGoalAccuracy

public String getGoalAccuracy()

Gets the goal accuracy.

Returns:

the goal accuracy

getGoalAccuracyRot

public Double getGoalAccuracyRot()

Description copied from interface: EdgeGoalBasedMotion

Gets the rotational goal accuracy in rad.

Specified by:

getGoalAccuracyRot in interface EdgeGoalBasedMotion

Returns:

the goal accuracy (null if no rotational goal accuracy is set)

getGoalAccuracyTrans

public Double getGoalAccuracyTrans()

Description copied from interface: EdgeGoalBasedMotion

Gets the translational goal accuracy in meters.

Specified by:

getGoalAccuracyTrans in interface EdgeGoalBasedMotion

Returns:

the goal accuracy (null if no translational goal accuracy is set)

setGoalAccuracy

public void setGoalAccuracy(String goalAccuracy)

Sets the goal accuracy.

Parameters:

goalAccuracy - the new goal accuracy