com.kuka.nav.object.handling
Class FindAndApproachObject

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<T,E>
          com.kuka.nav.object.handling.FindAndReach<T,E>
              com.kuka.nav.object.handling.FindAndApproachObject

All Implemented Interfaces:

com.kuka.command.ICommand<FindAndApproachObject,FindAndApproachObjectContainer>, com.kuka.command.IParameterizableCommand<FindAndApproachObject,FindAndApproachObjectContainer>, com.kuka.parameters.IParameterizable

public final class FindAndApproachObject
extends FindAndReach<T,E>
implements com.kuka.command.ICommand<FindAndApproachObject,FindAndApproachObjectContainer>

This action tries to find the given DetectionModel and to determine its pose. The robot then moves to the specified pose in front of the object and after that to the final pose offset relative to the pose of the object. If no front pose is specified the robot directly moves to the final pose. During the motion the robot continuously tracks the pose of the object.

Constructor Summary

	FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model, com.kuka.nav.Pose approxObjectPose) Creates a new FindAndReach action.
	FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model, com.kuka.nav.Pose objectPose, com.kuka.nav.TupleSE2 objectDeviation, com.kuka.nav.Pose approachPose) Creates a new FindAndReach action.
	FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model, SearchSpace searchSpace) Creates a new FindAndApproachObject action.
	FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model, SearchSpace searchSpace, com.kuka.nav.Pose approachPose) Creates a new FindAndReach action.
protected	FindAndApproachObject(com.kuka.parameters.IParameterMap params) Copy constructor.

Method Summary

FindAndApproachObject	copy()
com.kuka.nav.Pose	getApproachPose()
FindAndApproachObject	setApproachPose(com.kuka.nav.Pose approachPose) Sets the approach pose.

Methods inherited from class com.kuka.nav.object.handling.FindAndReach

getApproachAccelerationOverride, getApproachAccuracyRot, getApproachAccuracyTrans, getApproachTimeout, getApproachVelocityOverride, getDetectionModel, getMaxDetectionAttempts, getReachAccelerationOverride, getReachAccuracyRot, getReachAccuracyTrans, getReachTimeout, getReachVelocityOverride, getSearchSpace, setApproachAccelerationOverride, setApproachAccuracyRot, setApproachAccuracyTrans, setApproachTimeout, setApproachVelocityOverride, setDetectionModel, setMaxDetectionAttempts, setReachAccelerationOverride, setReachAccuracyRot, setReachAccuracyTrans, setReachTimeout, setReachVelocityOverride, setSearchSpace

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

FindAndApproachObject

public FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model,
                             SearchSpace searchSpace)

Creates a new FindAndApproachObject action.

Parameters:

model - the model of the object to find

searchSpace - the search space

FindAndApproachObject

public FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model,
                             SearchSpace searchSpace,
                             com.kuka.nav.Pose approachPose)

Creates a new FindAndReach action.

Parameters:

model - the model of the object to find

searchSpace - the search space

approachPose - a pose in front of the object

FindAndApproachObject

public FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model,
                             com.kuka.nav.Pose approxObjectPose)

Creates a new FindAndReach action.

Parameters:

model - the model of the object to find

approxObjectPose - the approximate pose of the target object

FindAndApproachObject

public FindAndApproachObject(com.kuka.nav.geometry.DetectionModel model,
                             com.kuka.nav.Pose objectPose,
                             com.kuka.nav.TupleSE2 objectDeviation,
                             com.kuka.nav.Pose approachPose)

Creates a new FindAndReach action.

Parameters:

model - the model of the object to find

objectPose - the approximate pose of the target object relative to the commanded robot

objectDeviation - the allowed deviation of the target object around the given pose

approachPose - a pose relative to to the target object

FindAndApproachObject

protected FindAndApproachObject(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

setApproachPose

public FindAndApproachObject setApproachPose(com.kuka.nav.Pose approachPose)

Sets the approach pose.

Parameters:

approachPose - a pose in front of the object

Returns:

this command

getApproachPose

public com.kuka.nav.Pose getApproachPose()

Returns:

the approachPose

copy

public FindAndApproachObject copy()

Specified by:

copy in interface com.kuka.command.ICommand<FindAndApproachObject,FindAndApproachObjectContainer>

Overrides:

copy in class com.kuka.nav.command.AbstractCommand<FindAndApproachObject,FindAndApproachObjectContainer>