com.kuka.roboticsAPI.commandModel
Interface IAction

All Superinterfaces:

IParameterizable

All Known Subinterfaces:

IJoggingMotion, IJointMotion, IJointMotionWithDestination, IKROSMotion, IMotion

All Known Implementing Classes:

AbsoluteSplineMotionCP, Action, BrakeTest, CartesianPTP, CIRC, GravComp, KROSMotion, LIN, Motion, MotionBatch, PositionHold, PTP, PTPHome, RelativeCIRC, RelativeLIN, RelativeSPL, RelativeSplineMotionCP, RobotMotion, SPL, Spline, SplineJP, SplineMotion, SplineMotionCP, SplineMotionJP, VelocityControlledCartesianMotion, VelocityControlledJointMotion, VelocityControlledMotion

public interface IAction
extends IParameterizable

Interface which has to be implemented by all actions.

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.

Method Summary

void	acquireResources(Device device) Prepares the action.
void	releaseResources(Device device) Called when the instruction which is associated with the action is released.

Methods inherited from interface com.kuka.roboticsAPI.motionModel.IParameterizable

getParams

Method Detail

acquireResources

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.

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

void releaseResources(Device device)

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

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.