com.kuka.nav.line
Class VirtualLine

java.lang.Object
  com.kuka.nav.line.VirtualLine

All Implemented Interfaces:

com.kuka.parameters.IParameter

public abstract class VirtualLine
extends Object
implements com.kuka.parameters.IParameter

Class representing a virtual line between two positions. Example for construction:

 VirtualLine.from(startPos).to(goalPose); 
 
 

An object of this type can be used to create a VirtualLineMotion, representing the actual motion a mobile robot performs while moving along that line. Note that all runtime information referring to such a motion (e.g. the allowed orientations) is not part of this class, but of class VirtualLineMotion.

Nested Class Summary

static interface

VirtualLine.From An intermediate class containing only the start position of the virtual line.

Method Summary

static VirtualLine.From	from(double x, double y) Starting point in constructing a virtual line object by setting a start position.
static VirtualLine.From	from(com.kuka.nav.Position source) Starting point in constructing a virtual line object by setting a start position.
abstract com.kuka.nav.Position	getGoal()
abstract com.kuka.nav.Position	getStart()
abstract VirtualLine	reverse()
abstract void	setGoal(com.kuka.nav.Position goal) Changes the goal position of the virtual line.
abstract void	setStart(com.kuka.nav.Position start) Changes the start position of the virtual line.

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.parameters.IParameter

copy

Method Detail

from

public static VirtualLine.From from(double x,
                                    double y)

Starting point in constructing a virtual line object by setting a start position. To finish the line, a goal position is needed.

Parameters:

x - x-coordinate of the start position

y - y-coordinate of the start position

Returns:

an intermediate virtual line object that needs to be finished by setting a goal position

from

public static VirtualLine.From from(com.kuka.nav.Position source)

Starting point in constructing a virtual line object by setting a start position. To finish the line, a goal position is needed.

Parameters:

source - the start position

Returns:

an intermediate virtual line object that needs to be finished by setting a goal position

getGoal

public abstract com.kuka.nav.Position getGoal()

Returns:

the goal position

setGoal

public abstract void setGoal(com.kuka.nav.Position goal)

Changes the goal position of the virtual line.

Parameters:

goal - the new goal position

getStart

public abstract com.kuka.nav.Position getStart()

Returns:

the start position

setStart

public abstract void setStart(com.kuka.nav.Position start)

Changes the start position of the virtual line.

Parameters:

start - the new start position

reverse

public abstract VirtualLine reverse()

Returns:

a new virtual line object where start and goal positions are switched.