com.kuka.nav.free
Class AutonomousMotion

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<T,E>
          com.kuka.nav.command.Motion<AutonomousMotion,AutonomousMotionContainer>
              com.kuka.nav.free.AutonomousMotion

All Implemented Interfaces:

com.kuka.command.ICommand<AutonomousMotion,AutonomousMotionContainer>, com.kuka.command.IParameterizableCommand<AutonomousMotion,AutonomousMotionContainer>, com.kuka.parameters.IParameterizable

public final class AutonomousMotion
extends com.kuka.nav.command.Motion<AutonomousMotion,AutonomousMotionContainer>
implements com.kuka.command.ICommand<AutonomousMotion,AutonomousMotionContainer>

This represents an autonomous motion of a mobile robot to a goal pose in absolute map coordinates.

Constructor Summary

	AutonomousMotion(double x, double y, double theta) Creates a new autonomous motion to the given goal pose (x, y, theta) in absolute map coordinates.
protected	AutonomousMotion(com.kuka.parameters.IParameterMap params) Copy constructor.
	AutonomousMotion(com.kuka.nav.Location location) Creates a new autonomous motion to the given location.
	AutonomousMotion(com.kuka.nav.Pose goal) Creates a new autonomous motion to the given goal pose (x, y, theta) in absolute map coordinates.

Method Summary

AutonomousMotion	copy()
double	getGoalAccuracyRot()
double	getGoalAccuracyTrans()
com.kuka.nav.Location	getGoalLocation()
com.kuka.nav.Pose	getGoalPose()
AutonomousMotion	setGoalAccuracyRot(double accuracy) Sets the rotational accuracy at the goal pose.
AutonomousMotion	setGoalAccuracyTrans(double accuracy) Sets the translational accuracy at the goal pose.
AutonomousMotion	setGoalLocation(com.kuka.nav.Location goal) Sets the goal location.
AutonomousMotion	setGoalPose(com.kuka.nav.Pose goal) Sets the goal pose of this motion.

Methods inherited from class com.kuka.nav.command.Motion

getAcceleration, getAccelerationOverride, getDeceleration, getDecelerationOverride, getMaxAcceleration, getMaxDeceleration, getMaxVelocity, getTimeout, getVelocity, getVelocityOverride, setAcceleration, setAccelerationOverride, setDeceleration, setDecelerationOverride, setMaxAcceleration, setMaxDeceleration, setMaxVelocity, setTimeout, setVelocity, setVelocityOverride

Methods inherited from class com.kuka.nav.command.AbstractCommand

getDescription, self, setDescription

Methods inherited from class com.kuka.nav.command.AbstractParameterizable

getParameters, paramHelper

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.command.ICommand

getDescription, setDescription

Methods inherited from interface com.kuka.parameters.IParameterizable

getParameters

Constructor Detail

AutonomousMotion

public AutonomousMotion(double x,
                        double y,
                        double theta)

Creates a new autonomous motion to the given goal pose (x, y, theta) in absolute map coordinates.

Parameters:

x - the x coordinate of the goal pose

y - the y coordinate of the goal pose

theta - the orientation of the goal pose in [rad]

AutonomousMotion

public AutonomousMotion(com.kuka.nav.Location location)

Creates a new autonomous motion to the given location.

Parameters:

location - the goal

AutonomousMotion

public AutonomousMotion(com.kuka.nav.Pose goal)

Creates a new autonomous motion to the given goal pose (x, y, theta) in absolute map coordinates.

Parameters:

goal - the goal pose

AutonomousMotion

protected AutonomousMotion(com.kuka.parameters.IParameterMap params)

Copy constructor. Creates a mew instance of the class containing the deep copy of the specified parameter map.

Parameters:

params - parameter map containing the command parameters.

Method Detail

getGoalLocation

public com.kuka.nav.Location getGoalLocation()

Returns:

the goal location of this motion or null if none was set.

setGoalLocation

public AutonomousMotion setGoalLocation(com.kuka.nav.Location goal)

Sets the goal location.

Parameters:

goal - the goal location

Returns:

this motion

copy

public AutonomousMotion copy()

Specified by:

copy in interface com.kuka.command.ICommand<AutonomousMotion,AutonomousMotionContainer>

Overrides:

copy in class com.kuka.nav.command.AbstractCommand<AutonomousMotion,AutonomousMotionContainer>

getGoalPose

public com.kuka.nav.Pose getGoalPose()

Returns:

the goal pose of this motion.

setGoalPose

public AutonomousMotion setGoalPose(com.kuka.nav.Pose goal)

Sets the goal pose of this motion.

Parameters:

goal - the goal pose

Returns:

this motion

getGoalAccuracyTrans

public double getGoalAccuracyTrans()

Returns:

The translational accuracy at the goal pose (in meters, Euclidian norm).

setGoalAccuracyTrans

public AutonomousMotion setGoalAccuracyTrans(double accuracy)

Sets the translational accuracy at the goal pose.

Parameters:

accuracy - The translational accuracy (in meters, Euclidian norm).

Returns:

reference to this object (fluent interface).

getGoalAccuracyRot

public double getGoalAccuracyRot()

Returns:

The rotational accuracy at the goal pose (in rad).

setGoalAccuracyRot

public AutonomousMotion setGoalAccuracyRot(double accuracy)

Sets the rotational accuracy at the goal pose.

Parameters:

accuracy - The rotational accuracy (in rad).

Returns:

reference to this object (fluent interface).