com.kuka.nav.recover
Class ReturnToPathRecover

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

All Implemented Interfaces:

RecoverAction, com.kuka.parameters.IParameter

public class ReturnToPathRecover
extends Object
implements RecoverAction

Recover by returning straight to the intended path.

Constructor Summary

ReturnToPathRecover()
Creates a new return to path recover action.

ReturnToPathRecover(double maxRecoveredDist, double maxDeltaOrientation)
Creates a new return to path recover action.

Method Summary

com.kuka.parameters.IParameter	copy()
double	getMaxDeltaOrientation()
double	getMaxRecoveredDist()

Methods inherited from class java.lang.Object

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

Constructor Detail

ReturnToPathRecover

public ReturnToPathRecover()

Creates a new return to path recover action.

Note: This recover action type must be commanded in combination with an OffPathCondition.

ReturnToPathRecover

public ReturnToPathRecover(double maxRecoveredDist,
                           double maxDeltaOrientation)

Creates a new return to path recover action.

Note: This recover action type must be commanded in combination with an OffPathCondition.

Parameters:

maxRecoveredDist - maximum distance on the path, where the next reachable point has to be.

maxDeltaOrientation - maximum angle in radians around which the robot is allowed to turn during a recovery motion.

Method Detail

getMaxRecoveredDist

public double getMaxRecoveredDist()

Returns:

the maxRecoveredDist

getMaxDeltaOrientation

public double getMaxDeltaOrientation()

Returns:

the maxDeltaOrientation

copy

public com.kuka.parameters.IParameter copy()

Specified by:

copy in interface com.kuka.parameters.IParameter