com.kuka.nav.path
Class VirtualPathMotionProperty

java.lang.Object
  com.kuka.nav.fleet.graph.properties.AbstractProperty
      com.kuka.nav.path.VirtualPathMotionProperty

All Implemented Interfaces:

com.kuka.nav.fleet.graph.properties.EdgeGoalBasedMotion, com.kuka.nav.fleet.graph.properties.EdgeMotion, com.kuka.nav.fleet.graph.properties.EdgeMotionWithOrientation, com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion, com.kuka.nav.fleet.graph.properties.Property, Serializable

public class VirtualPathMotionProperty
extends com.kuka.nav.fleet.graph.properties.AbstractProperty
implements com.kuka.nav.fleet.graph.properties.EdgeGoalBasedMotion, com.kuka.nav.fleet.graph.properties.EdgeMotionWithOrientation, com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion

Property defining parameters for a virtual path motion associated to a topology graph edge.

See Also:

Serialized Form

Constructor Summary

VirtualPathMotionProperty()

Method Summary

boolean	blocksCompleteEdge()
com.kuka.nav.geometry.BlendingDiscretizationInfo	computeBlendingPoses(com.kuka.nav.Pose start1, com.kuka.nav.Pose goal1, double blendingCart, com.kuka.nav.fleet.graph.properties.EdgeMotion motion2, com.kuka.nav.Pose start2, com.kuka.nav.Pose goal2, com.kuka.nav.robot.DriveType type)
com.kuka.nav.geometry.BlendingContext	getBlendingContext(com.kuka.nav.Pose start, com.kuka.nav.Pose goal)
com.kuka.nav.Position	getClosestPointOnMotion(com.kuka.nav.Position start, com.kuka.nav.Position end, com.kuka.nav.Position position)
com.kuka.nav.fleet.graph.properties.EdgeMotion	getCopyWithOrientation(double ori)
Double	getGoalAccuracyRot() Note that a goal accuracy is currently not supported by the virtual path motion, therefore the returned value of this method will always be null.
Double	getGoalAccuracyTrans() Note that a goal accuracy is currently not supported by the virtual path motion, therefore the returned value of this method will always be null.
List<Double>	getGoalOrientations(com.kuka.nav.fleet.graph.TopologyNode node) Note that this method can be called only after setting the path data and map id using setPathData(VirtualPathData) and setMapId(int).
List<com.kuka.nav.TupleSE2>	getMotions(com.kuka.nav.TupleSE2 srcPose, com.kuka.nav.Pose entryPose, com.kuka.nav.TupleSE2 tgtPose, com.kuka.nav.Pose exitPose, double oriDelta)
String	getPathName() Returns the name of the corresponding virtual path.
Collection<Double>	getPathOrientations() Returns the allowed set of orientations relative to the path.
String	getPathOris() Gets the allowed orientations of the robot towards the virtual path.
List<Double>	getRelativeGoalOrientations(com.kuka.nav.fleet.graph.TopologyNode node) The returned list will be empty.
List<Double>	getRelativeStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)
List<Double>	getStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)
String	getTrackAccuracy() Gets the tracking accuracy.
Double	getTrackingAccuracyRot() Gets the rotational tracking accuracy in [rad].
Double	getTrackingAccuracyTrans() Gets the translational tracking accuracy in meters.
String	getValueToDisplay()
boolean	isBlendingSupported()
boolean	isReachableOrientation(double startOri, double goalOri, double edgeAngle, double allowedOriDelta, com.kuka.nav.robot.DriveType drive)
boolean	isRecoverable()
boolean	isRotationAllowed()
void	resetPath() Resets this virtual path motion property's path instance to null.
void	setMapId(int mapId) Sets the map id the corresponding virtual path is located on.
void	setPathData(VirtualPathData paths) Sets the path data used to determine the goal orientations and to sample the motion.
void	setPathName(String pathName) Sets the name of the corresponding virtual path.
void	setPathOris(String pathOris) Sets the allowed orientation of robot to virtual path.
void	setTrackAccuracy(String trackAccuracy) Sets the tracking accuracy.
String	toString()

Methods inherited from class com.kuka.nav.fleet.graph.properties.AbstractProperty

equals, fireChanged, getAllowedTypes, getId, hashCode, setId, tryGetParamFromString

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface com.kuka.nav.fleet.graph.properties.Property

getAllowedTypes, getId, setId

Constructor Detail

VirtualPathMotionProperty

public VirtualPathMotionProperty()

Method Detail

setPathData

public void setPathData(VirtualPathData paths)

Sets the path data used to determine the goal orientations and to sample the motion.

Parameters:

paths - the virtual path data source

See Also:

setMapId(int)

setMapId

public void setMapId(int mapId)

Sets the map id the corresponding virtual path is located on. It is used to load the path from the data source to determine the goal orientations and to sample the motion.

Parameters:

mapId - the id of the map

See Also:

setPathData(VirtualPathData)

getPathName

public String getPathName()

Returns the name of the corresponding virtual path.

Returns:

the name of the virtual path

setPathName

public void setPathName(String pathName)

Sets the name of the corresponding virtual path.

Parameters:

pathName - the name of the corresponding virtual path

getPathOris

public String getPathOris()

Gets the allowed orientations of the robot towards the virtual path.

Returns:

the list of allowed path orientations

setPathOris

public void setPathOris(String pathOris)

Sets the allowed orientation of robot to virtual path.

Parameters:

pathOris - allowed orientation of robot to virtual path

getPathOrientations

public Collection<Double> getPathOrientations()

Returns the allowed set of orientations relative to the path.

Specified by:

getPathOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

Returns:

the allowed set of orientations relative to the path

resetPath

public void resetPath()

Resets this virtual path motion property's path instance to null. Should be called whenever anything changes in the database image of the path such that it gets reloaded from the database.

getStartOrientations

public List<Double> getStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)

Specified by:

getStartOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getRelativeStartOrientations

public List<Double> getRelativeStartOrientations(com.kuka.nav.fleet.graph.TopologyNode node)

Specified by:

getRelativeStartOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getGoalOrientations

public List<Double> getGoalOrientations(com.kuka.nav.fleet.graph.TopologyNode node)

Note that this method can be called only after setting the path data and map id using setPathData(VirtualPathData) and setMapId(int). If this property is part of a persisted topology graph these methods will be called by the virtual path component after loading the graph from the data source, i.e. they do not have to be called manually.

Specified by:

getGoalOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

See Also:

setPathData(VirtualPathData), setMapId(int)

getRelativeGoalOrientations

public List<Double> getRelativeGoalOrientations(com.kuka.nav.fleet.graph.TopologyNode node)

The returned list will be empty. All orientations are provided in map coordinates by getGoalOrientations(TopologyNode).

Specified by:

getRelativeGoalOrientations in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

See Also:

getGoalOrientations(TopologyNode)

getTrackAccuracy

public String getTrackAccuracy()

Gets the tracking accuracy.

Returns:

the tracking accuracy

setTrackAccuracy

public void setTrackAccuracy(String trackAccuracy)

Sets the tracking accuracy.

Parameters:

trackAccuracy - the new tracking accuracy

getTrackingAccuracyRot

public Double getTrackingAccuracyRot()

Gets the rotational tracking accuracy in [rad].

Specified by:

getTrackingAccuracyRot in interface com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion

Returns:

the tracking accuracy (or null if it is not set).

getTrackingAccuracyTrans

public Double getTrackingAccuracyTrans()

Gets the translational tracking accuracy in meters.

Specified by:

getTrackingAccuracyTrans in interface com.kuka.nav.fleet.graph.properties.EdgeTrackingBasedMotion

Returns:

the tracking accuracy (or null if it is not set).

isRotationAllowed

public boolean isRotationAllowed()

Specified by:

isRotationAllowed in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

isRecoverable

public boolean isRecoverable()

Specified by:

isRecoverable in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

isReachableOrientation

public boolean isReachableOrientation(double startOri,
                                      double goalOri,
                                      double edgeAngle,
                                      double allowedOriDelta,
                                      com.kuka.nav.robot.DriveType drive)

Specified by:

isReachableOrientation in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

isBlendingSupported

public boolean isBlendingSupported()

Specified by:

isBlendingSupported in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

blocksCompleteEdge

public boolean blocksCompleteEdge()

Specified by:

blocksCompleteEdge in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getGoalAccuracyTrans

public Double getGoalAccuracyTrans()

Note that a goal accuracy is currently not supported by the virtual path motion, therefore the returned value of this method will always be null.

Specified by:

getGoalAccuracyTrans in interface com.kuka.nav.fleet.graph.properties.EdgeGoalBasedMotion

getGoalAccuracyRot

public Double getGoalAccuracyRot()

Note that a goal accuracy is currently not supported by the virtual path motion, therefore the returned value of this method will always be null.

Specified by:

getGoalAccuracyRot in interface com.kuka.nav.fleet.graph.properties.EdgeGoalBasedMotion

toString

public String toString()

Overrides:

toString in class Object

getValueToDisplay

public String getValueToDisplay()

Specified by:

getValueToDisplay in interface com.kuka.nav.fleet.graph.properties.Property

getMotions

public List<com.kuka.nav.TupleSE2> getMotions(com.kuka.nav.TupleSE2 srcPose,
                                              com.kuka.nav.Pose entryPose,
                                              com.kuka.nav.TupleSE2 tgtPose,
                                              com.kuka.nav.Pose exitPose,
                                              double oriDelta)

Specified by:

getMotions in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

computeBlendingPoses

public com.kuka.nav.geometry.BlendingDiscretizationInfo computeBlendingPoses(com.kuka.nav.Pose start1,
                                                                             com.kuka.nav.Pose goal1,
                                                                             double blendingCart,
                                                                             com.kuka.nav.fleet.graph.properties.EdgeMotion motion2,
                                                                             com.kuka.nav.Pose start2,
                                                                             com.kuka.nav.Pose goal2,
                                                                             com.kuka.nav.robot.DriveType type)

Specified by:

computeBlendingPoses in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getBlendingContext

public com.kuka.nav.geometry.BlendingContext getBlendingContext(com.kuka.nav.Pose start,
                                                                com.kuka.nav.Pose goal)

Specified by:

getBlendingContext in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getClosestPointOnMotion

public com.kuka.nav.Position getClosestPointOnMotion(com.kuka.nav.Position start,
                                                     com.kuka.nav.Position end,
                                                     com.kuka.nav.Position position)

Specified by:

getClosestPointOnMotion in interface com.kuka.nav.fleet.graph.properties.EdgeMotion

getCopyWithOrientation

public com.kuka.nav.fleet.graph.properties.EdgeMotion getCopyWithOrientation(double ori)

Specified by:

getCopyWithOrientation in interface com.kuka.nav.fleet.graph.properties.EdgeMotion