com.kuka.nav.free
Class AutonomousMotionProperty

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

All Implemented Interfaces:

com.kuka.nav.fleet.graph.properties.EdgeGoalBasedMotion, com.kuka.nav.fleet.graph.properties.EdgeMotion, com.kuka.nav.fleet.graph.properties.Property, Serializable

public class AutonomousMotionProperty
extends com.kuka.nav.fleet.graph.properties.AbstractGoalBasedMotionProperty

Property defining parameters for an autonomous motion associated to a topology graph edge.

See Also:

Serialized Form

Constructor Summary

AutonomousMotionProperty()

Method Summary

boolean	blocksCompleteEdge()
com.kuka.nav.geometry.BlendingDiscretizationInfo	computeBlendingPoses(com.kuka.nav.Pose start1, com.kuka.nav.Pose goal1, double blendingCart, com.kuka.nav.fleet.graph.properties.EdgeMotion motion2, com.kuka.nav.Pose start2, com.kuka.nav.Pose goal2, com.kuka.nav.robot.DriveType type)
com.kuka.nav.geometry.BlendingContext	getBlendingContext(com.kuka.nav.Pose start, com.kuka.nav.Pose goal)
com.kuka.nav.fleet.graph.properties.EdgeMotion	getCopyWithOrientation(double ori)
boolean	isBlendingSupported()
boolean	isReachableOrientation(double startOri, double goalOri, double edgeAngle, double allowedOriDelta, com.kuka.nav.robot.DriveType drive)
boolean	isRecoverable()
boolean	isRotationAllowed()

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

getGoalAccuracy, getGoalAccuracyRot, getGoalAccuracyTrans, setGoalAccuracy

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

getClosestPointOnMotion, getGoalOrientations, getMotions, getPathOrientations, getRelativeGoalOrientations, getRelativeStartOrientations, getStartOrientations

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

getAllowedTypes, getId, getValueToDisplay, setId

Constructor Detail

AutonomousMotionProperty

public AutonomousMotionProperty()

Method Detail

isRotationAllowed

public boolean isRotationAllowed()

isRecoverable

public boolean isRecoverable()

isReachableOrientation

public boolean isReachableOrientation(double startOri,
                                      double goalOri,
                                      double edgeAngle,
                                      double allowedOriDelta,
                                      com.kuka.nav.robot.DriveType drive)

isBlendingSupported

public boolean isBlendingSupported()

blocksCompleteEdge

public boolean blocksCompleteEdge()

computeBlendingPoses

public com.kuka.nav.geometry.BlendingDiscretizationInfo computeBlendingPoses(com.kuka.nav.Pose start1,
                                                                             com.kuka.nav.Pose goal1,
                                                                             double blendingCart,
                                                                             com.kuka.nav.fleet.graph.properties.EdgeMotion motion2,
                                                                             com.kuka.nav.Pose start2,
                                                                             com.kuka.nav.Pose goal2,
                                                                             com.kuka.nav.robot.DriveType type)

getBlendingContext

public com.kuka.nav.geometry.BlendingContext getBlendingContext(com.kuka.nav.Pose start,
                                                                com.kuka.nav.Pose goal)

getCopyWithOrientation

public com.kuka.nav.fleet.graph.properties.EdgeMotion getCopyWithOrientation(double ori)