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

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

All Implemented Interfaces:

Property, Serializable

Direct Known Subclasses:

EdgePathRecover, NodeStartPoseRecover

public abstract class AbstractRecoverProperty
extends AbstractProperty

Base implementation for motion recovery providing properties.

See Also:

Serialized Form

Constructor Summary

protected

AbstractRecoverProperty(double maxDistTransM, double maxDistRotDeg, double maxRecoveredDistM, double maxDeltaOrientationDeg) Instantiates a new abstract recover property.

Method Summary

Double	getMaxDeltaOrientation() Gets the maximum allowed rotational difference in radiant for off path recovery for differential vehicles.
Double	getMaxDeltaOrientationDeg() Gets the maximum allowed rotational difference in degree for off path recovery for differential vehicles.
Double	getMaxDistRot() Gets the maximum rotational distance in radians.
Double	getMaxDistRotDeg() Gets the maximum rotational distance in degrees.
Double	getMaxDistTransM() Gets the maximum translational distance in meters.
Double	getMaxRecoveredDistM() Gets the maximum allowed distance for off path recovery for differential vehicles.
protected String	getValueToDisplayRecover()
String	getValueToDisplayRecoverAction()
void	setMaxDeltaOrientationDeg(Double maxDeltaOrientationDeg) Sets the maximum allowed rotational difference in degree for off path recovery for differential vehicles.
void	setMaxDistRotDeg(Double dist) Sets the maximum rotational distance in degrees.
void	setMaxDistTransM(Double dist) Sets the maximum translational distance in meters.
void	setMaxRecoveredDistM(Double maxRecoveredDistM) Sets the maximum allowed distance for off path recovery for differential vehicles.
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

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

getValueToDisplay

Constructor Detail

AbstractRecoverProperty

protected AbstractRecoverProperty(double maxDistTransM,
                                  double maxDistRotDeg,
                                  double maxRecoveredDistM,
                                  double maxDeltaOrientationDeg)

Instantiates a new abstract recover property.

Parameters:

maxDistTransM - the maximum allowed translational distance for recovery in meters

maxDistRotDeg - the maximum allowed rotational distance for recovery in degrees

maxRecoveredDistM - the maximum allowed distance for off path recovery for differential vehicles. Necessary to prevent forbidden backwards movement during recovery.

maxDeltaOrientationDeg - the maximum allowed rotational difference for off path recovery for differential vehicles. Necessary to prevent forbidden backwards movement during recovery.

Method Detail

getMaxRecoveredDistM

public Double getMaxRecoveredDistM()

Gets the maximum allowed distance for off path recovery for differential vehicles.

Necessary to prevent forbidden backwards movement during recovery.

Returns:

the _maxRecoveredDist

setMaxRecoveredDistM

public void setMaxRecoveredDistM(Double maxRecoveredDistM)

Sets the maximum allowed distance for off path recovery for differential vehicles.

Necessary to prevent forbidden backwards movement during recovery.

Parameters:

maxRecoveredDistM - the _maxRecoveredDist to set

getMaxDeltaOrientationDeg

public Double getMaxDeltaOrientationDeg()

Gets the maximum allowed rotational difference in degree for off path recovery for differential vehicles.

Necessary to prevent forbidden backwards movement during recovery.

Returns:

the _maxDeltaOrientationDeg

getMaxDeltaOrientation

public Double getMaxDeltaOrientation()

Gets the maximum allowed rotational difference in radiant for off path recovery for differential vehicles.

Necessary to prevent forbidden backwards movement during recovery.

Returns:

the _maxDeltaOrientationDeg in radiant

setMaxDeltaOrientationDeg

public void setMaxDeltaOrientationDeg(Double maxDeltaOrientationDeg)

Sets the maximum allowed rotational difference in degree for off path recovery for differential vehicles.

Necessary to prevent forbidden backwards movement during recovery.

Parameters:

maxDeltaOrientationDeg - the _maxDeltaOrientation to set

getMaxDistTransM

public Double getMaxDistTransM()

Gets the maximum translational distance in meters.

Returns:

the distance distance

setMaxDistTransM

public void setMaxDistTransM(Double dist)

Sets the maximum translational distance in meters.

Parameters:

dist - the new maximum distance

getMaxDistRotDeg

public Double getMaxDistRotDeg()

Gets the maximum rotational distance in degrees.

Returns:

the maximum distance

setMaxDistRotDeg

public void setMaxDistRotDeg(Double dist)

Sets the maximum rotational distance in degrees.

Parameters:

dist - the new maximum distance

getMaxDistRot

public Double getMaxDistRot()

Gets the maximum rotational distance in radians.

Returns:

the maximum distance

toString

public String toString()

Overrides:

toString in class Object

getValueToDisplayRecover

protected String getValueToDisplayRecover()

Returns:

display value for recovery.

getValueToDisplayRecoverAction

public String getValueToDisplayRecoverAction()

Returns:

display value for recovery action.