com.kuka.nav.path
Class VirtualPath

java.lang.Object
  com.kuka.nav.path.VirtualPath

All Implemented Interfaces:

com.kuka.parameters.IParameter

public abstract class VirtualPath
extends Object
implements com.kuka.parameters.IParameter

Represents a path between two positions that can be restricted to allow only certain orientations during the path and at the goal.

Only persisted paths can be used in an application. To retrieve a path from the data source use VirtualPathData.

Constructor Summary

protected	VirtualPath(int id, String name, int mapId) Creates a new virtual path.
protected	VirtualPath(VirtualPath path) Creates a new virtual path from the given one.

Method Summary

abstract double	getEndOrientation() Returns the orientations (of the tangent) of the path at the goal position relative to the map coordinates.
abstract com.kuka.nav.Position	getEndPosition() Returns the goal position of the path.
int	getId() Returns the id of this virtual path.
int	getMapId() Returns the id of the associated map.
String	getName() Returns the name of this virtual path.
abstract List<com.kuka.nav.geometry.SplineSegment>	getSegments() Returns a list of segments of the path, the segments consists of via and control points.
abstract double	getStartOrientation() Returns the orientations (of the tangent) of the path at the start position relative to the map coordinates.
abstract com.kuka.nav.Position	getStartPosition() Returns the start position of the path.
abstract VirtualPath	reverse() Returns a new virtual path object with reversed order of waypoints.
String	toString()

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.parameters.IParameter

copy

Constructor Detail

VirtualPath

protected VirtualPath(int id,
                      String name,
                      int mapId)

Creates a new virtual path.

Parameters:

id - the id of the virtual path

name - the name of the virtual path

mapId - the id of the map on which the virtual path is located

VirtualPath

protected VirtualPath(VirtualPath path)

Creates a new virtual path from the given one.

Parameters:

path - the virtual path to copy

Method Detail

getId

public final int getId()

Returns the id of this virtual path.

Returns:

the id of this virtual path

getName

public final String getName()

Returns the name of this virtual path.

Returns:

the name of this virtual path

getMapId

public final int getMapId()

Returns the id of the associated map.

Returns:

the id of the associated map.

getStartPosition

public abstract com.kuka.nav.Position getStartPosition()

Returns the start position of the path.

Returns:

the start position of the path

See Also:

getStartOrientation(), getEndPosition(), getEndOrientation()

getStartOrientation

public abstract double getStartOrientation()

Returns the orientations (of the tangent) of the path at the start position relative to the map coordinates.

Returns:

the orientation of the path at the start position

See Also:

getStartPosition(), getEndPosition(), getEndOrientation()

getEndPosition

public abstract com.kuka.nav.Position getEndPosition()

Returns the goal position of the path.

Returns:

the goal position of the path

See Also:

getStartPosition(), getStartOrientation(), getEndOrientation()

getEndOrientation

public abstract double getEndOrientation()

Returns the orientations (of the tangent) of the path at the goal position relative to the map coordinates.

Returns:

the orientation of the path at the goal position

See Also:

getStartPosition(), getStartOrientation(), getEndPosition()

getSegments

public abstract List<com.kuka.nav.geometry.SplineSegment> getSegments()

Returns a list of segments of the path, the segments consists of via and control points.

Returns:

list of segments

reverse

public abstract VirtualPath reverse()

Returns a new virtual path object with reversed order of waypoints.

Returns:

a new virtual path object with reversed order of waypoints

toString

public final String toString()

Overrides:

toString in class Object