com.kuka.nav.object.handling
Class FindAndReachObject

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.FindAndReachObject

All Implemented Interfaces:

com.kuka.command.ICommand<FindAndReachObject,FindAndReachObjectContainer>, com.kuka.command.IParameterizableCommand<FindAndReachObject,FindAndReachObjectContainer>, com.kuka.parameters.IParameterizable

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

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

	FindAndReachObject(com.kuka.nav.geometry.DetectionModel model, SearchSpace searchSpace) Creates a new FindAndReachObject action.
	FindAndReachObject(com.kuka.nav.geometry.DetectionModel model, SearchSpace searchSpace, com.kuka.nav.Pose goalPose) Creates a new FindAndReach action.
	FindAndReachObject(com.kuka.nav.geometry.DetectionModel model, SearchSpace searchSpace, com.kuka.nav.Pose approachPose, com.kuka.nav.Pose goalPose) Creates a new FindAndReach action.
protected	FindAndReachObject(com.kuka.parameters.IParameterMap params) Copy constructor.

Method Summary

FindAndReachObject	copy()
com.kuka.nav.Pose	getApproachPose()
com.kuka.nav.Pose	getGoalPose()
boolean	isSkipApproach()
boolean	isSkipReach()
FindAndReachObject	setApproachPose(com.kuka.nav.Pose approachPose) That will be override the approach pose setting by constructor.
FindAndReachObject	setGoalPose(com.kuka.nav.Pose goalPose) That will be override the goal pose setting by constructor.
FindAndReachObject	setSkipApproach(boolean skip) If it is true, the step approach (go to approach pose) is skipped.
FindAndReachObject	setSkipReach(boolean skip) If it is true, the step reach (go to reach pose) is skipped.

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

FindAndReachObject

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

Creates a new FindAndReachObject action.

Parameters:

model - the model of the object to find

searchSpace - the search space

FindAndReachObject

public FindAndReachObject(com.kuka.nav.geometry.DetectionModel model,
                          SearchSpace searchSpace,
                          com.kuka.nav.Pose goalPose)

Creates a new FindAndReach action.

Parameters:

model - the model of the object to find

searchSpace - the search space

goalPose - the final pose relative to the pose of the object

FindAndReachObject

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

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

goalPose - the final pose relative to the pose of the object

FindAndReachObject

protected FindAndReachObject(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 FindAndReachObject setApproachPose(com.kuka.nav.Pose approachPose)

That will be override the approach pose setting by constructor.

Parameters:

approachPose - the approachPose to set

Returns:

this

getApproachPose

public com.kuka.nav.Pose getApproachPose()

Returns:

the approachPose

setGoalPose

public FindAndReachObject setGoalPose(com.kuka.nav.Pose goalPose)

That will be override the goal pose setting by constructor.

Parameters:

goalPose - the goalPose to set

Returns:

this

getGoalPose

public com.kuka.nav.Pose getGoalPose()

Returns:

the goal pose

setSkipApproach

public FindAndReachObject setSkipApproach(boolean skip)

If it is true, the step approach (go to approach pose) is skipped. The default is false.

Parameters:

skip - skip the approach pose

Returns:

this

isSkipApproach

public boolean isSkipApproach()

Returns:

true if approach is skipped, false otherwise

setSkipReach

public FindAndReachObject setSkipReach(boolean skip)

If it is true, the step reach (go to reach pose) is skipped. The default is false.

Parameters:

skip - skip the reach pose

Returns:

this

isSkipReach

public boolean isSkipReach()

Returns:

true if reach is skipped, false otherwise

copy

public FindAndReachObject copy()

Specified by:

copy in interface com.kuka.command.ICommand<FindAndReachObject,FindAndReachObjectContainer>

Overrides:

copy in class com.kuka.nav.command.AbstractCommand<FindAndReachObject,FindAndReachObjectContainer>