com.kuka.nav.free
Interface AutonomousMotionContainer

All Superinterfaces:

com.kuka.nav.command.CommandContainer<AutonomousMotion,com.kuka.nav.command.NavExecutionResult>, com.kuka.command.ICommandExecutionContainer<AutonomousMotion,com.kuka.nav.command.NavExecutionResult,com.kuka.nav.command.NavExecutionState>, com.kuka.nav.command.MotionContainer<AutonomousMotion,com.kuka.nav.command.NavExecutionResult>

public interface AutonomousMotionContainer
extends com.kuka.nav.command.MotionContainer<AutonomousMotion,com.kuka.nav.command.NavExecutionResult>

This class is responsible for the management of the runtime information of an autonomous motion.

Method Summary

void	updateGoalLocation(com.kuka.nav.Location goal) Updates the current goal of the corresponding motion.
void	updateGoalPose(double x, double y, double theta) Updates the current goal of the corresponding motion.
void	updateGoalPose(com.kuka.nav.Pose goal) Updates the current goal of the corresponding motion.

Methods inherited from interface com.kuka.nav.command.MotionContainer

getMapZoneInfluence, getPathLengthToGoal, getTimeInActive, getTimeToGoal, getTrackingErrorRot, getTrackingErrorRotMax, getTrackingErrorRotMean, getTrackingErrorTrans, getTrackingErrorTransMax, getTrackingErrorTransMean, getTravelledDistance

Methods inherited from interface com.kuka.nav.command.CommandContainer

getTimestamp

Methods inherited from interface com.kuka.command.ICommandExecutionContainer

awaitFinalized, awaitFinalized, awaitFinished, awaitFinished, cancel, getCommand, getResult, getState

Method Detail

updateGoalPose

void updateGoalPose(double x,
                    double y,
                    double theta)

Updates the current goal of the corresponding motion.

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]

updateGoalPose

void updateGoalPose(com.kuka.nav.Pose goal)

Updates the current goal of the corresponding motion.

Parameters:

goal - the goal pose

updateGoalLocation

void updateGoalLocation(com.kuka.nav.Location goal)

Updates the current goal of the corresponding motion.

Parameters:

goal - the goal location