com.kuka.roboticsAPI.conditionModel
Interface ICondition

All Known Subinterfaces:

IMotionStopCondition, IStopCondition

All Known Implementing Classes:

AbstractComplexCondition, AbstractCondition, AndCondition, BooleanIOCondition, CartesianTorqueCondition, ErrStateDrivesCondition, ForceComponentCondition, ForceCondition, ForceStopCondition, FrameDistanceComponentCondition, FrameDistanceCondition, IORangeCondition, JointStopCondition, JointTorqueCondition, MotionCondition, MotionPathCondition, MotionStopCondition, NotCondition, OrCondition, RobotCondition, TorqueComponentCondition, XorCondition

public interface ICondition

Base interface for conditions.

See Also:

JointTorqueCondition, ForceCondition, ForceComponentCondition, ErrStateDrivesCondition, MotionCondition, IORangeCondition, AndCondition, NotCondition, OrCondition, XorCondition, MotionPathCondition

Method Summary

ICondition	and(ICondition condition, ICondition... conditions) Links two or more conditions using an AND relation.
ICondition	invert() Negates a condition.
ICondition	or(ICondition condition, ICondition... conditions) Links two or more conditions using a disjunction.
ICondition	xor(ICondition condition) Links two conditions using a XOR connection.

Method Detail

and

ICondition and(ICondition condition,
               ICondition... conditions)

Links two or more conditions using an AND relation. All given conditions must be true for the AndCondition to be true.

Parameters:

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

conditions - further optional conditions.

Returns:

the AND relation of the given conditions

or

ICondition or(ICondition condition,
              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:

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

conditions - further optional conditions.

Returns:

the disjunction of the given conditions

invert

ICondition invert()

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

Returns:

the negated condition

xor

ICondition xor(ICondition condition)

Links two conditions using a XOR connection. Only one of the two given conditions can be true for the XorCondition to be true.

Parameters:

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

Returns:

the disjunction of the given conditions