com.kuka.roboticsAPI.conditionModel
Class BasicConditions

java.lang.Object
  com.kuka.roboticsAPI.conditionModel.BasicConditions

public final class BasicConditions
extends Object

Utility class to simplify building complex conditions.

Field Summary

static double	DEFAULT_FORCE_TOLERANCE The force tolerance threshold (10 [N]).
static double	DEFAULT_TORQUE_TOLERANCE The torque tolerance threshold (10 [Nm]).

Method Summary

static ICondition	and(ICondition condition1, ICondition condition2, ICondition... conditions) Creates an AND relation between the given conditions.
static ICondition	not(ICondition condition) Negates a condition.
static ICondition	or(ICondition condition1, ICondition condition2, ICondition... conditions) Links two or more conditions using a disjunction.
static ICondition	xor(ICondition condition1, ICondition condition2) Creates a XOR connection between the given conditions.

Methods inherited from class java.lang.Object

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

Field Detail

DEFAULT_FORCE_TOLERANCE

public static final double DEFAULT_FORCE_TOLERANCE

The force tolerance threshold (10 [N]).

See Also:

Constant Field Values

DEFAULT_TORQUE_TOLERANCE

public static final double DEFAULT_TORQUE_TOLERANCE

The torque tolerance threshold (10 [Nm]).

See Also:

Constant Field Values

Method Detail

and

public static ICondition and(ICondition condition1,
                             ICondition condition2,
                             ICondition... conditions)

Creates an AND relation between the given conditions.

Parameters:

condition1 - first condition of AND relation

condition2 - second condition for AND relation

conditions - further optional conditions for AND relation

Returns:

the And relation of the given conditions

Throws:

IllegalArgumentException - if any of the conditions is null

or

public static ICondition or(ICondition condition1,
                            ICondition condition2,
                            ICondition... conditions)

Links two or more conditions using a disjunction. One ore more of the given conditions must be true for the OrCondition to be true.

Parameters:

condition1 - the condition that will be linked with the calling condition.

condition2 - further optional conditions.

conditions - further optional conditions for OR relation

Returns:

the disjunction of the given conditions

Throws:

IllegalArgumentException - if any of the conditions is null

xor

public static ICondition xor(ICondition condition1,
                             ICondition condition2)

Creates a XOR connection between the given conditions.

Parameters:

condition1 - first condition of XOR connection

condition2 - second condition for XOR connection

Returns:

the xor relation of the given conditions

not

public static ICondition not(ICondition condition)

Negates a condition. The given condition must be false for the NotCondition to be true.

Parameters:

condition - condition to negate

Returns:

the negated condition