com.kuka.nav.robot
Interface MobileRobotLoad

All Known Subinterfaces:

MobileRobot

public interface MobileRobotLoad

Interface for the nav load capability.

Method Summary

void	addLoadListener(MobileRobotLoadListener listener) Adds a listener that will be notified whenever there is a mismatch between the commanded load info and the robot aware load info.
com.kuka.geometry.SpatialObject	getLoad() Getter for the attached load.
com.kuka.math.geometry.Transformation	getLoadTransformation()
boolean	isLoadConsistent() This method provides a test to detect mismatches between the commanded load info and the load info that the robot reports.
void	removeLoad() Removes an attached load.
void	removeLoadListener(MobileRobotLoadListener listener) Removes the given listener.
void	setLoad(com.kuka.geometry.SpatialObject spatialObject) Attaches the given load scene graph to the robot, using the IDENTITY transformation.
void	setLoad(com.kuka.geometry.SpatialObject spatialObject, com.kuka.math.geometry.ITransformation transformation) Attaches the given load scene graph to the robot, using the given transformation.

Method Detail

getLoad

com.kuka.geometry.SpatialObject getLoad()

Getter for the attached load.

Returns:

the attached load

getLoadTransformation

com.kuka.math.geometry.Transformation getLoadTransformation()

Returns:

the transformation the load was set with

isLoadConsistent

boolean isLoadConsistent()

This method provides a test to detect mismatches between the commanded load info and the load info that the robot reports.

Returns:

true, if the robot reported load equals the recently commanded one. false otherwise.

setLoad

void setLoad(com.kuka.geometry.SpatialObject spatialObject)

Attaches the given load scene graph to the robot, using the IDENTITY transformation.

Before invoking this method on a robot the robot must be locked.

Parameters:

spatialObject - load scene graph to set. If null is given, the current load will be detached; this has the same effects as calling removeNavLaod(). If not null is given, the load data of the load must be set (e.g. by calling setLoadData()) and the given mass of the load must not be equal to zero.

setLoad

void setLoad(com.kuka.geometry.SpatialObject spatialObject,
             com.kuka.math.geometry.ITransformation transformation)

Attaches the given load scene graph to the robot, using the given transformation.

Before invoking this method on a robot the robot must be locked.

Parameters:

spatialObject - load scene graph to set. If null is given, the current load will be detached; this has the same effects as calling removeNavLaod(). If not null is given, the load data of the load must be set (e.g. by calling setLoadData()) and the given mass of the load must not be equal to zero.

transformation - the transformation of the given load scene graph to the robot 'root frame'.

Throws:

IllegalArgumentException - if the transformation is null or if an error occurred while setting the load

removeLoad

void removeLoad()

Removes an attached load.

Before invoking this method on a robot the robot must be locked.

addLoadListener

void addLoadListener(MobileRobotLoadListener listener)

Adds a listener that will be notified whenever there is a mismatch between the commanded load info and the robot aware load info.

Parameters:

listener - the nav load listener

removeLoadListener

void removeLoadListener(MobileRobotLoadListener listener)

Removes the given listener.

Parameters:

listener - the nav load listener