com.kuka.roboticsAPI.controllerModel.recovery
Interface IPTPRecoveryStrategy

All Superinterfaces:

IRecoveryStrategy

All Known Implementing Classes:

PTPRecoveryStrategy

public interface IPTPRecoveryStrategy
extends IRecoveryStrategy

Interface which is be implemented by the PTP recovery strategy provided by the system.

Method Summary

PTP	getMotion() Returns the PTP which is executed when the strategy will be executed.
JointPosition	getStartPosition() Returns the start position of this strategy.

Method Detail

getStartPosition

JointPosition getStartPosition()

Returns the start position of this strategy. This is the position at the moment when this strategy was created.

Returns:

the start position

getMotion

PTP getMotion()

Returns the PTP which is executed when the strategy will be executed.

Returns:

the PTP which is executed when the strategy will be executed.