com.kuka.roboticsAPI.capabilities.driveBrakeTest
Class DriveBrakeTestCapabilityImpl

java.lang.Object
  com.kuka.roboticsAPI.capabilities.driveBrakeTest.DriveBrakeTestCapabilityImpl

All Implemented Interfaces:

IDriveBrakeTestCapability, ICapability

public class DriveBrakeTestCapabilityImpl
extends Object
implements IDriveBrakeTestCapability

Implementation of the drive brake test capability.

Constructor Summary

DriveBrakeTestCapabilityImpl(SunriseOmniMoveMobilePlatform platform)
Creates an instance of the drive brake test capability.

Method Summary

void	brakeTest(int axisIndex, double torque) Executes the drive brake test on the device.
void	brakeTest(Map<Integer,Double> torquesByAxisIndex) Executes the drive brake test on all the axises.
int[]	getAllAxisIndex() Returns the axis index of all axises.
DriveBrakeTestResult	getLatestResult(int axisIndex) Returns the latest result of the drive brake tests for one axis.
DriveBrakeTestResult[]	getLatestResults() Returns the latest result of the drive brake tests for every axis ordered by axis index.
DriveBrakeTestRange	getTorqueRange(int axisIndex) Returns the torque range (minimum, default, maximum) for one axis.

Methods inherited from class java.lang.Object

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

Constructor Detail

DriveBrakeTestCapabilityImpl

public DriveBrakeTestCapabilityImpl(SunriseOmniMoveMobilePlatform platform)

Creates an instance of the drive brake test capability.

Parameters:

platform - the mobile platform to be tested.

Method Detail

brakeTest

public void brakeTest(int axisIndex,
                      double torque)

Description copied from interface: IDriveBrakeTestCapability

Executes the drive brake test on the device.

Specified by:

brakeTest in interface IDriveBrakeTestCapability

Parameters:

axisIndex - which axis should be tested

torque - the axis torque defined during the brake test execution

brakeTest

public void brakeTest(Map<Integer,Double> torquesByAxisIndex)

Description copied from interface: IDriveBrakeTestCapability

Executes the drive brake test on all the axises.

Specified by:

brakeTest in interface IDriveBrakeTestCapability

Parameters:

torquesByAxisIndex - the different axis torques defined during the brake test execution by axisId.

getLatestResults

public DriveBrakeTestResult[] getLatestResults()

Description copied from interface: IDriveBrakeTestCapability

Returns the latest result of the drive brake tests for every axis ordered by axis index.

Specified by:

getLatestResults in interface IDriveBrakeTestCapability

Returns:

the result of the latest drive brake tests

getLatestResult

public DriveBrakeTestResult getLatestResult(int axisIndex)

Description copied from interface: IDriveBrakeTestCapability

Returns the latest result of the drive brake tests for one axis.

Specified by:

getLatestResult in interface IDriveBrakeTestCapability

Parameters:

axisIndex - for which axis should we get the latest results

Returns:

the result of the latest drive brake tests for the axis

getTorqueRange

public DriveBrakeTestRange getTorqueRange(int axisIndex)

Description copied from interface: IDriveBrakeTestCapability

Returns the torque range (minimum, default, maximum) for one axis.

Specified by:

getTorqueRange in interface IDriveBrakeTestCapability

Parameters:

axisIndex - for which axis should we get the torque range

Returns:

the torque range

getAllAxisIndex

public int[] getAllAxisIndex()

Description copied from interface: IDriveBrakeTestCapability

Returns the axis index of all axises.

Specified by:

getAllAxisIndex in interface IDriveBrakeTestCapability

Returns:

the number of axises