com.kuka.nav.recover
Class OffPathCondition

java.lang.Object
  com.kuka.nav.recover.OffPathCondition

All Implemented Interfaces:

RecoverCondition, com.kuka.parameters.IParameter

public final class OffPathCondition
extends Object
implements RecoverCondition

Checks whether the platform is within a specified distance from the closest pose on the path, but outside the tracking corridor of the path. Must be paired with a ReturnToPathRecover action.

Currently, only virtual line and virtual path motions support this condition type.

Constructor Summary

OffPathCondition(double maxDeviationTrans, double maxDeviationRot)
Creates a new condition with the given maximal allowed deviations.

Method Summary

com.kuka.parameters.IParameter	copy()
double	getMaxDeviationRot()
double	getMaxDeviationTrans()

Methods inherited from class java.lang.Object

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

Constructor Detail

OffPathCondition

public OffPathCondition(double maxDeviationTrans,
                        double maxDeviationRot)

Creates a new condition with the given maximal allowed deviations.

Note: This condition type must be commanded in combination with a ReturnToPathRecover action.

Parameters:

maxDeviationTrans - the maximal allowed translational deviation

maxDeviationRot - the maximal allowed rotational deviation in radians

Method Detail

getMaxDeviationTrans

public double getMaxDeviationTrans()

Returns:

the maximal allowed translational deviation.

getMaxDeviationRot

public double getMaxDeviationRot()

Returns:

the maximal allowed rotational deviation in radians.

copy

public com.kuka.parameters.IParameter copy()

Specified by:

copy in interface com.kuka.parameters.IParameter