com.kuka.roboticsAPI.controllerModel.recovery
Class PTPRecoveryStrategy

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.recovery.PTPRecoveryStrategy

All Implemented Interfaces:

IExecutableRecoveryStrategy, IPTPRecoveryStrategy, IRecoveryStrategy

public class PTPRecoveryStrategy
extends Object
implements IPTPRecoveryStrategy, IExecutableRecoveryStrategy

A recovery strategy which performs a PTP motion to reposition the Robot.

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

PTPRecoveryStrategy(JointPosition startPosition, RecoveryInformation recoveryInfo)
Constructor.

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.
PhysicalObject	getToolSnapshot()
IMotionContainer	startRecovery(Robot robot, IMotionContainerListener listener) Starts the recovery motion asynchronously.

Methods inherited from class java.lang.Object

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

Constructor Detail

PTPRecoveryStrategy

public PTPRecoveryStrategy(JointPosition startPosition,
                           RecoveryInformation recoveryInfo)

Constructor.

Parameters:

startPosition - the start position

recoveryInfo - the recovery info of the interrupted motion

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 Detail

getStartPosition

public JointPosition getStartPosition()

Description copied from interface: IPTPRecoveryStrategy

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

Specified by:

getStartPosition in interface IPTPRecoveryStrategy

Returns:

the start position

getMotion

public PTP getMotion()

Description copied from interface: IPTPRecoveryStrategy

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

Specified by:

getMotion in interface IPTPRecoveryStrategy

Returns:

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

startRecovery

public IMotionContainer startRecovery(Robot robot,
                                      IMotionContainerListener listener)

Description copied from interface: IExecutableRecoveryStrategy

Starts the recovery motion asynchronously.

The implementing class must make sure that when this methods finishes (normally or by exception), the state of attached objects on the robot must be restored to the exact state as before.

Specified by:

startRecovery in interface IExecutableRecoveryStrategy

Parameters:

robot - the Robot which needs to recover. All load data must have been detached prior to the call.

listener - motion event listener. Can be null.

Returns:

the motion container for the repositioning motion. Must not be null.

getToolSnapshot

public PhysicalObject getToolSnapshot()

Returns:

the tool snapshot