com.kuka.roboticsAPI.commandModel
Class Action<T extends Action<T>>

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>

Type Parameters:

T - Type of the overriding class. Used for fluent interface.

All Implemented Interfaces:

IAction, IParameterizable

Direct Known Subclasses:

GravComp, Motion

public abstract class Action<T extends Action<T>>
extends Object
implements IAction

Serves as base class for all actions.

An action is a part of a instruction which describes some action to be performed. The action is device-independent.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Constructor Summary

protected	Action() Creates a new instance with a default parameter set type.
protected	Action(com.kuka.common.params.IParameterSetBuilder<?> paramBuilder) Creates a new instance with parameters that are built with the given parameter set builder.

Method Summary

void	acquireResources(Device device) Prepares the action.
protected void	addParameter(com.kuka.common.params.IParameter<?> newParam) Adds the given parameter to the set of this action's parameters.
T	addParams(com.kuka.common.params.IParameterSet params) Adds the parameters from the given set to this action.
com.kuka.common.params.IParameterSet	getParams() Gets the parameter set with which the motion is parameterized.
void	releaseResources(Device device) Called when the instruction which is associated with the action is released.
void	removeParameter(Class<? extends com.kuka.common.params.IParameter<?>> param) Removes the given parameter from the set of this action's parameters.
protected T	self() Returns a reference to this object.

Methods inherited from class java.lang.Object

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

Constructor Detail

Action

protected Action()

Creates a new instance with a default parameter set type.

Action

protected Action(com.kuka.common.params.IParameterSetBuilder<?> paramBuilder)

Creates a new instance with parameters that are built with the given parameter set builder. The builder can be preinitialized with values.

Parameters:

paramBuilder - parameter set builder

Method Detail

self

protected final T self()

Returns a reference to this object.

Returns:

a reference to this object

acquireResources

public void acquireResources(Device device)

Prepares the action.

An action is part of an instruction, and the prepare method passes the device part of the instruction to the action so that it can determine if the device is appropriate for the action.

Specified by:

acquireResources in interface IAction

Parameters:

device - The device part of the instruction in which the action is contained.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

releaseResources

public void releaseResources(Device device)

Called when the instruction which is associated with the action is released.

Specified by:

releaseResources in interface IAction

Parameters:

device - The device part of the instruction in which the action is contained.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getParams

public final com.kuka.common.params.IParameterSet getParams()

Gets the parameter set with which the motion is parameterized.

Specified by:

getParams in interface IParameterizable

Returns:

The parameter set with which the motion is parameterized.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

addParams

public final T addParams(com.kuka.common.params.IParameterSet params)

Adds the parameters from the given set to this action. The sequence of the parameters in the set is important: parameters can be overwritten by adding the same parameter with a different value again.

Parameters:

params - parameters to set for this action.

Returns:

this action

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

addParameter

protected final void addParameter(com.kuka.common.params.IParameter<?> newParam)

Adds the given parameter to the set of this action's parameters.

Parameters:

newParam - the new parameter

removeParameter

public final void removeParameter(Class<? extends com.kuka.common.params.IParameter<?>> param)

Removes the given parameter from the set of this action's parameters.

Parameters:

param - the parameter to remove