com.kuka.nav.line
Class VirtualLineMotionProperty

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.line.VirtualLineMotionProperty

All Implemented Interfaces:

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

public class VirtualLineMotionProperty
extends com.kuka.nav.fleet.graph.properties.AbstractGoalBasedMotionProperty
implements com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion

Property defining parameters for a virtual line motion associated to a topology graph edge.

See Also:

Serialized Form

Constructor Summary

VirtualLineMotionProperty()

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 mode)
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)
com.kuka.nav.OrientationMode	getMode() Gets the orientation mode.
List<Double>	getRelativeStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)
List<Double>	getStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)
String	getTrackAccuracy() Gets the tracking accuracy.
Double	getTrackingAccuracyRot() Gets the rotational tracking accuracy in rad.
Double	getTrackingAccuracyTrans() Gets the translational tracking accuracy in meters.
boolean	isBlendingSupported()
boolean	isReachableOrientation(double startOri, double goalOri, double edgeAngle, double allowedOriDelta, com.kuka.nav.robot.DriveType drive)
boolean	isRecoverable()
boolean	isRotationAllowed()
void	setMode(com.kuka.nav.OrientationMode mode) Sets the orientation mode.
void	setTrackAccuracy(String trackAccuracy) Sets the tracking accuracy.
String	toString()

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, getValueToDisplay, setGoalOris, setLineOris

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

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

getAllowedTypes, getId, getValueToDisplay, setId

Constructor Detail

VirtualLineMotionProperty

public VirtualLineMotionProperty()

Method Detail

getStartOrientations

public List<Double> getStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)

Specified by:

getStartOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

Overrides:

getStartOrientations in class com.kuka.nav.fleet.graph.properties.AbstractEdgeMotionProperty

getRelativeStartOrientations

public List<Double> getRelativeStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)

Specified by:

getRelativeStartOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

Overrides:

getRelativeStartOrientations in class com.kuka.nav.fleet.graph.properties.AbstractEdgeMotionProperty

getTrackAccuracy

public String getTrackAccuracy()

Gets the tracking accuracy.

Returns:

the tracking accuracy

getTrackingAccuracyRot

public Double getTrackingAccuracyRot()

Gets the rotational tracking accuracy in rad.

Specified by:

getTrackingAccuracyRot in interface com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion

Returns:

the tracking accuracy (or null if it is not set).

getTrackingAccuracyTrans

public Double getTrackingAccuracyTrans()

Gets the translational tracking accuracy in meters.

Specified by:

getTrackingAccuracyTrans in interface com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion

Returns:

the tracking accuracy (or null if it is not set).

setTrackAccuracy

public void setTrackAccuracy(String trackAccuracy)

Sets the tracking accuracy.

Parameters:

trackAccuracy - the new tracking accuracy

getMode

public com.kuka.nav.OrientationMode getMode()

Gets the orientation mode.

Returns:

the orientation mode

setMode

public void setMode(com.kuka.nav.OrientationMode mode)

Sets the orientation mode.

Parameters:

mode - the new orientation mode

isRotationAllowed

public boolean isRotationAllowed()

Specified by:

isRotationAllowed in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

isRecoverable

public boolean isRecoverable()

Specified by:

isRecoverable in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

isReachableOrientation

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

Specified by:

isReachableOrientation in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

isBlendingSupported

public boolean isBlendingSupported()

Specified by:

isBlendingSupported in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

blocksCompleteEdge

public boolean blocksCompleteEdge()

Specified by:

blocksCompleteEdge in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

toString

public String toString()

Overrides:

toString in class com.kuka.nav.fleet.graph.properties.AbstractEdgeMotionProperty

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 mode)

Specified by:

computeBlendingPoses in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getBlendingContext

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

Specified by:

getBlendingContext in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getCopyWithOrientation

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

Specified by:

getCopyWithOrientation in interface com.kuka.nav.fleet.graph.properties.EdgeMotion