com.kuka.nav.lift
Class LiftAction

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<T,E>
          com.kuka.nav.command.Action<LiftAction,LiftActionContainer>
              com.kuka.nav.lift.LiftAction

All Implemented Interfaces:

com.kuka.command.ICommand<LiftAction,LiftActionContainer>, com.kuka.command.IParameterizableCommand<LiftAction,LiftActionContainer>, com.kuka.parameters.IParameterizable

public final class LiftAction
extends com.kuka.nav.command.Action<LiftAction,LiftActionContainer>
implements com.kuka.command.ICommand<LiftAction,LiftActionContainer>

Action to move the lift of a mobile robot to a specified height in m.

Nested Class Summary

static class

LiftAction.Command Enum to represent the bolt levels of an OmniMove.

Constructor Summary

	LiftAction(double height) Creates new lift action to the specified height.
protected	LiftAction(com.kuka.parameters.IParameterMap params) Copy constructor.
	LiftAction(LiftAction.Command command) Creates new lift action to the specified height.

Method Summary

LiftAction	copy()
double	getHeight()
double	getSpeed()
LiftAction	setHeight(double height) Sets the lift height.
LiftAction	setSpeed(double speed) Sets the lift velocity of the motion (relative to the maximal velocity).

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

getTimeout, setTimeout

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

LiftAction

public LiftAction(LiftAction.Command command)

Creates new lift action to the specified height.

Parameters:

command - command container the desired height in [m]

LiftAction

public LiftAction(double height)

Creates new lift action to the specified height.

Parameters:

height - desired height in [m]

LiftAction

protected LiftAction(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

setHeight

public LiftAction setHeight(double height)

Sets the lift height. The commanded lift height must be greater or equal than 0. If the value is greater than the maximal lift height it is set to that height.

Parameters:

height - the lift height in [m]

Returns:

this action

getHeight

public double getHeight()

Returns:

the lift height in [m]

setSpeed

public LiftAction setSpeed(double speed)

Sets the lift velocity of the motion (relative to the maximal velocity). Must be greater than 0 and not bigger than 1.

Parameters:

speed - the speed in the range (0, 1] as a fraction of the maximal speed.

Returns:

this action

getSpeed

public double getSpeed()

Returns:

the lift velocity in [m/s]

copy

public LiftAction copy()

Specified by:

copy in interface com.kuka.command.ICommand<LiftAction,LiftActionContainer>

Overrides:

copy in class com.kuka.nav.command.AbstractCommand<LiftAction,LiftActionContainer>