com.kuka.nav.rel
Class RelativeMotion

java.lang.Object
  com.kuka.nav.command.AbstractParameterizable
      com.kuka.nav.command.AbstractCommand<T,E>
          com.kuka.nav.command.Motion<RelativeMotion,RelativeMotionContainer>
              com.kuka.nav.rel.RelativeMotion

All Implemented Interfaces:

com.kuka.command.ICommand<RelativeMotion,RelativeMotionContainer>, com.kuka.command.IParameterizableCommand<RelativeMotion,RelativeMotionContainer>, com.kuka.parameters.IParameterizable

public final class RelativeMotion
extends Motion<RelativeMotion,RelativeMotionContainer>
implements com.kuka.command.ICommand<RelativeMotion,RelativeMotionContainer>

Mobile robot motion relative to the robot's current pose.

Constructor Summary

	RelativeMotion(double x, double y, double theta) Creates a new relative motion to the given pose (x, y, theta) relative to the robot.
protected	RelativeMotion(com.kuka.parameters.IParameterMap params) Copy constructor.
	RelativeMotion(Pose relativePose) Creates a new relative motion to the given NavigationPose (x, y, theta) in [m, m, rad].

Method Summary

RelativeMotion	copy()
double	getGoalAccuracyRot()
double	getGoalAccuracyTrans()
Pose	getGoalPose()
RelativeMotion	setGoalAccuracyRot(double accuracy) Sets the rotational accuracy at the goal pose.
RelativeMotion	setGoalAccuracyTrans(double accuracy) Sets the translational accuracy at the goal pose.
RelativeMotion	setGoalPose(Pose goal) Sets the goal pose of this motion.

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

RelativeMotion

public RelativeMotion(double x,
                      double y,
                      double theta)

Creates a new relative motion to the given pose (x, y, theta) relative to the robot.

Parameters:

x - the x coordinate of the goal pose

y - the y coordinate of the goal pose

theta - the orientation of the goal pose in [rad]

RelativeMotion

public RelativeMotion(Pose relativePose)

Creates a new relative motion to the given NavigationPose (x, y, theta) in [m, m, rad].

Parameters:

relativePose - The relative pose, w.r.t. the current mobile robot base

RelativeMotion

protected RelativeMotion(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

copy

public RelativeMotion copy()

Specified by:

copy in interface com.kuka.command.ICommand<RelativeMotion,RelativeMotionContainer>

Specified by:

copy in class AbstractCommand<RelativeMotion,RelativeMotionContainer>

getGoalPose

public Pose getGoalPose()

Returns:

the goal pose of this motion.

setGoalPose

public RelativeMotion setGoalPose(Pose goal)

Sets the goal pose of this motion.

Parameters:

goal - the goal pose

Returns:

this motion

getGoalAccuracyTrans

public double getGoalAccuracyTrans()

Returns:

The translational accuracy at the goal pose (in meters, Euclidian norm).

setGoalAccuracyTrans

public RelativeMotion setGoalAccuracyTrans(double accuracy)

Sets the translational accuracy at the goal pose.

Parameters:

accuracy - The translational accuracy (in meters, Euclidian norm).

Returns:

reference to this object (fluent interface).

getGoalAccuracyRot

public double getGoalAccuracyRot()

Returns:

The rotational accuracy at the goal pose (in rad).

setGoalAccuracyRot

public RelativeMotion setGoalAccuracyRot(double accuracy)

Sets the rotational accuracy at the goal pose.

Parameters:

accuracy - The rotational accuracy (in rad).

Returns:

reference to this object (fluent interface).