com.kuka.nav.object.handling
Class TrackingMotion

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

All Implemented Interfaces:

com.kuka.command.ICommand<TrackingMotion,TrackingMotionContainer>, com.kuka.command.IParameterizableCommand<TrackingMotion,TrackingMotionContainer>, com.kuka.parameters.IParameterizable

public final class TrackingMotion
extends com.kuka.nav.command.Motion<TrackingMotion,TrackingMotionContainer>
implements com.kuka.command.ICommand<TrackingMotion,TrackingMotionContainer>

Motion to move to a defined pose in object coordinates while tracking the object. The motion can be commanded by using the execute command.

Constructor Summary

protected	TrackingMotion(com.kuka.parameters.IParameterMap params) Copy constructor.
	TrackingMotion(com.kuka.nav.command.Motion<?,?> motion, com.kuka.nav.geometry.DetectionModel model, com.kuka.nav.Pose objectPose) Creates a new motion for moving the robot to a defined pose in object coordinates while tracking the object.

Method Summary

TrackingMotion	copy()
com.kuka.nav.geometry.DetectionModel	getDetectionModel()
com.kuka.nav.Pose	getObjectPose() Returns the initial object pose estimate.
double	getSigmaRot() Returns the rotational standard deviation for the initial object pose estimate.
double	getSigmaTrans() Returns the translational standard deviation for the initial object pose estimate.
TrackingMotion	setDetectionModel(com.kuka.nav.geometry.DetectionModel objectType) Sets the type of the object to track.
TrackingMotion	setObjectPose(com.kuka.nav.Pose objectPose) Sets the initial object pose estimate.
TrackingMotion	setSigmaRot(double sigmaRot) Sets the rotational standard deviation of the initial object pose estimate.
TrackingMotion	setSigmaTrans(double sigmaTrans) Sets the translational standard deviation of the initial object pose estimate.

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

getAcceleration, getAccelerationOverride, getDeceleration, getDecelerationOverride, getMaxAcceleration, getMaxDeceleration, getMaxVelocity, getTimeout, getVelocity, getVelocityOverride, setAcceleration, setAccelerationOverride, setDeceleration, setDecelerationOverride, setMaxAcceleration, setMaxDeceleration, setMaxVelocity, setTimeout, setVelocity, setVelocityOverride

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

TrackingMotion

public TrackingMotion(com.kuka.nav.command.Motion<?,?> motion,
                      com.kuka.nav.geometry.DetectionModel model,
                      com.kuka.nav.Pose objectPose)

Creates a new motion for moving the robot to a defined pose in object coordinates while tracking the object.

Parameters:

motion - the type of motion requested (must be fully parameterized before calling this constructor). Pose coordinates must be specified in the reference frame of the object.

model - the detection model of the object to track

objectPose - The initial object pose estimate (relative to the robot in the moment in which the motion should start). It should be obtained by executing an ObjectDetectionRequest.

TrackingMotion

protected TrackingMotion(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 object type to track.

setDetectionModel

public TrackingMotion setDetectionModel(com.kuka.nav.geometry.DetectionModel objectType)

Sets the type of the object to track.

Parameters:

objectType - The object type.

Returns:

this motion

Throws:

IllegalArgumentException

setObjectPose

public TrackingMotion setObjectPose(com.kuka.nav.Pose objectPose)

Sets the initial object pose estimate.

Parameters:

objectPose - The initial object pose estimate.

Returns:

this motion

Throws:

IllegalArgumentException

getObjectPose

public com.kuka.nav.Pose getObjectPose()

Returns the initial object pose estimate.

Returns:

The initial object pose estimate.

setSigmaTrans

public TrackingMotion setSigmaTrans(double sigmaTrans)

Sets the translational standard deviation of the initial object pose estimate.

Parameters:

sigmaTrans - the translational standard deviation, must be nonnegative

Returns:

this motion

Throws:

IllegalArgumentException

getSigmaTrans

public double getSigmaTrans()

Returns the translational standard deviation for the initial object pose estimate.

Returns:

the translational deviation.

setSigmaRot

public TrackingMotion setSigmaRot(double sigmaRot)

Sets the rotational standard deviation of the initial object pose estimate.

Parameters:

sigmaRot - the rotational standard deviation, must be nonnegative

Returns:

this motion

Throws:

IllegalArgumentException

getSigmaRot

public double getSigmaRot()

Returns the rotational standard deviation for the initial object pose estimate.

Returns:

the rotational deviation.

copy

public TrackingMotion copy()

Specified by:

copy in interface com.kuka.command.ICommand<TrackingMotion,TrackingMotionContainer>

Overrides:

copy in class com.kuka.nav.command.AbstractCommand<TrackingMotion,TrackingMotionContainer>