com.kuka.nav.object.handling
Class FindAndReach<T extends FindAndReach<T,E>,E extends com.kuka.nav.command.CommandContainer<T,?>>

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

Type Parameters:

T - type of the implementing command

E - type of the command execution container used for this command.

All Implemented Interfaces:

com.kuka.command.ICommand<T,E>, com.kuka.command.IParameterizableCommand<T,E>, com.kuka.parameters.IParameterizable

Direct Known Subclasses:

FindAndApproachObject, FindAndReachObject

public abstract class FindAndReach<T extends FindAndReach<T,E>,E extends com.kuka.nav.command.CommandContainer<T,?>>
extends com.kuka.nav.command.AbstractCommand<T,E>

Base class for all OAFAROA (optional actions, find, approach, reach, optional actions) actions.

Constructor Summary

protected	FindAndReach(Class<T> paramType, com.kuka.nav.geometry.DetectionModel detectionModel) Creates a new find and reach high level action.
protected	FindAndReach(com.kuka.parameters.IParameterMap params) Copy constructor.

Method Summary

double	getApproachAccelerationOverride()
double	getApproachAccuracyRot()
double	getApproachAccuracyTrans()
int	getApproachTimeout()
double	getApproachVelocityOverride()
com.kuka.nav.geometry.DetectionModel	getDetectionModel()
int	getMaxDetectionAttempts()
double	getReachAccelerationOverride()
double	getReachAccuracyRot()
double	getReachAccuracyTrans()
int	getReachTimeout()
double	getReachVelocityOverride()
SearchSpace	getSearchSpace()
T	setApproachAccelerationOverride(double maxAcc) Sets the maximum acceleration used for the approach motion.
T	setApproachAccuracyRot(double accuracy) Sets the desired rotational accuracy used for the approach motion.
T	setApproachAccuracyTrans(double accuracy) Sets the desired translational accuracy used for the approach motion.
T	setApproachTimeout(int timeout) Sets the timeout for the approach motion.
T	setApproachVelocityOverride(double maxVel) Sets the maximum velocity used for the approach motion.
T	setDetectionModel(com.kuka.nav.geometry.DetectionModel model) Sets the detection model.
T	setMaxDetectionAttempts(int attempts) Sets the number of retries that are performed if the object detection fails.
T	setReachAccelerationOverride(double maxAcc) Sets the maximum acceleration used for the reach motion.
T	setReachAccuracyRot(double accuracy) Sets the desired rotational accuracy used for the reach motion.
T	setReachAccuracyTrans(double accuracy) Sets the desired translational accuracy used for the reach motion.
T	setReachTimeout(int timeout) Sets the timeout for the reach motion.
T	setReachVelocityOverride(double maxVel) Sets the maximum velocity used for the reach motion.
T	setSearchSpace(SearchSpace searchSpace) Sets the search space of the command.

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

copy, 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.parameters.IParameterizable

getParameters

Constructor Detail

FindAndReach

protected FindAndReach(Class<T> paramType,
                       com.kuka.nav.geometry.DetectionModel detectionModel)

Creates a new find and reach high level action.

Parameters:

paramType - the parameter type

detectionModel - the object to detect and track

FindAndReach

protected FindAndReach(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

getDetectionModel

public com.kuka.nav.geometry.DetectionModel getDetectionModel()

Returns:

The detection model.

setDetectionModel

public final T setDetectionModel(com.kuka.nav.geometry.DetectionModel model)

Sets the detection model.

Parameters:

model - The detection model.

Returns:

This command.

getSearchSpace

public SearchSpace getSearchSpace()

Returns:

The current search space of the command.

setSearchSpace

public T setSearchSpace(SearchSpace searchSpace)

Sets the search space of the command.

Parameters:

searchSpace - the new search space.

Returns:

This command.

setMaxDetectionAttempts

public T setMaxDetectionAttempts(int attempts)

Sets the number of retries that are performed if the object detection fails.

Parameters:

attempts - the number of retries

Returns:

this action (fluent interface)

getMaxDetectionAttempts

public int getMaxDetectionAttempts()

Returns:

The maximum number of detection attempts.

setApproachVelocityOverride

public T setApproachVelocityOverride(double maxVel)

Sets the maximum velocity used for the approach motion. The given value is the percentage of the platform's maximum velocity. It must be greater than 0 and smaller or equal than 1, where 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Parameters:

maxVel - the maximum velocity

Returns:

this action (fluent interface)

Throws:

IllegalArgumentException - if velocity is not between 0 and 1

getApproachVelocityOverride

public double getApproachVelocityOverride()

Returns:

The override of the approach velocity.

setApproachAccelerationOverride

public T setApproachAccelerationOverride(double maxAcc)

Sets the maximum acceleration used for the approach motion. The given value is the percentage of the platform's maximum acceleration. It must be greater than 0 and smaller or equal than 1, where 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Parameters:

maxAcc - the maximum acceleration

Returns:

this action (fluent interface)

Throws:

IllegalArgumentException - if acceleration is not between 0 and 1

getApproachAccelerationOverride

public double getApproachAccelerationOverride()

Returns:

The override of the acceleration override during the approach.

setApproachAccuracyTrans

public T setApproachAccuracyTrans(double accuracy)

Sets the desired translational accuracy used for the approach motion.

Parameters:

accuracy - the accuracy in [m]

Returns:

this action (fluent interface)

getApproachAccuracyTrans

public double getApproachAccuracyTrans()

Returns:

The translational approach accuracy.

setApproachAccuracyRot

public T setApproachAccuracyRot(double accuracy)

Sets the desired rotational accuracy used for the approach motion.

Parameters:

accuracy - the accuracy in [rad]

Returns:

this action (fluent interface)

getApproachAccuracyRot

public double getApproachAccuracyRot()

Returns:

The rotational approach accuracy.

setApproachTimeout

public T setApproachTimeout(int timeout)

Sets the timeout for the approach motion. The given value must be greater than 0.

Parameters:

timeout - the timeout in seconds

Returns:

this action (fluent interface)

Throws:

IllegalArgumentException - if the timeout is not greater than 0

getApproachTimeout

public int getApproachTimeout()

Returns:

The timeout for the approach.

setReachVelocityOverride

public T setReachVelocityOverride(double maxVel)

Sets the maximum velocity used for the reach motion. The given value is the percentage of the platform's maximum velocity. It must be greater than 0 and smaller or equal than 1, where 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Parameters:

maxVel - the maximum velocity

Returns:

this action (fluent interface)

Throws:

IllegalArgumentException - if velocity is not between 0 and 1

getReachVelocityOverride

public double getReachVelocityOverride()

Returns:

The override of the velocity override during the reach manoeuvre.

setReachAccelerationOverride

public T setReachAccelerationOverride(double maxAcc)

Sets the maximum acceleration used for the reach motion. The given value is the percentage of the platform's maximum acceleration. It must be greater than 0 and smaller or equal than 1, where 0 means 0% of the maximum value, 1 means 100% percent of the maximum value.

Parameters:

maxAcc - the maximum acceleration

Returns:

this action (fluent interface)

Throws:

IllegalArgumentException - if acceleration is not between 0 and 1

getReachAccelerationOverride

public double getReachAccelerationOverride()

Returns:

The override of the acceleration override during the approach manoeuvre.

setReachAccuracyTrans

public T setReachAccuracyTrans(double accuracy)

Sets the desired translational accuracy used for the reach motion.

Parameters:

accuracy - the accuracy in [m]

Returns:

this action (fluent interface)

getReachAccuracyTrans

public double getReachAccuracyTrans()

Returns:

The translational reach accuracy.

setReachAccuracyRot

public T setReachAccuracyRot(double accuracy)

Sets the desired rotational accuracy used for the reach motion.

Parameters:

accuracy - the accuracy in [rad]

Returns:

this action (fluent interface)

getReachAccuracyRot

public double getReachAccuracyRot()

Returns:

The rotational reach accuracy.

setReachTimeout

public T setReachTimeout(int timeout)

Sets the timeout for the reach motion. The given value must be greater than 0.

Parameters:

timeout - the timeout in seconds

Returns:

this action (fluent interface)

Throws:

IllegalArgumentException - if the timeout is not greater than 0

getReachTimeout

public int getReachTimeout()

Returns:

The timeout for the reach manoeuvre.