com.kuka.nav.object.handling
Class ObjectDetectionRequest

java.lang.Object
  com.kuka.nav.object.handling.ObjectDetectionRequest

All Implemented Interfaces:

com.kuka.nav.command.Request<ObjectDetectionContainer>

public final class ObjectDetectionRequest
extends Object
implements com.kuka.nav.command.Request<ObjectDetectionContainer>

Request to perform object detection on the robot platform. The object detection may take a few seconds with a default, unrestricted search space. Also, without restrictions, symmetrical objects will be detected multiple times on the same spot for each possible orientation. Thus, it is often useful to restrict the search space.

This is a non-continuous request that finishes once the result is available.

Constructor Summary

ObjectDetectionRequest(com.kuka.nav.geometry.DetectionModel model)
Creates a request for detecting objects of a specific type.

Method Summary

com.kuka.nav.geometry.DetectionModel	getDetectionModel()
SearchSpace	getSearchSpace() Returns the search space of the request.
void	setDetectionModel(com.kuka.nav.geometry.DetectionModel model) Sets the detection model.
ObjectDetectionRequest	setSearchSpace(SearchSpace space) Overwrites the search space.

Methods inherited from class java.lang.Object

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

Constructor Detail

ObjectDetectionRequest

public ObjectDetectionRequest(com.kuka.nav.geometry.DetectionModel model)

Creates a request for detecting objects of a specific type. Per default, the search space of the request is unrestricted.

Parameters:

model - the detection model of object to be detected

Method Detail

getDetectionModel

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

Returns:

The detection model.

setDetectionModel

public void setDetectionModel(com.kuka.nav.geometry.DetectionModel model)

Sets the detection model.

Parameters:

model - the detection model

getSearchSpace

public SearchSpace getSearchSpace()

Returns the search space of the request. Per default there is an unrestricted search space set.

Returns:

The search space.

setSearchSpace

public ObjectDetectionRequest setSearchSpace(SearchSpace space)

Overwrites the search space.

Parameters:

space - The new search space to be used.

Returns:

This request.