com.kuka.roboticsAPI.controllerModel.recovery
Class RecoveryInformation

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

public class RecoveryInformation
extends Object

The data needed for resuming an application.

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

RecoveryInformation(JointPosition recoveryPosition, IMotionControlMode recoveryMode, PhysicalObject attachedToolObject)
Creates an instance of the class.

Method Summary

PhysicalObject	getAttachedToolObject() Returns the physical object that represents the load data and TCP state at the time the motion was commanded.
IMotionControlMode	getRecoveryMode() Gets the IMotionControlMode of the last executed motion.
JointPosition	getRecoveryPosition() Gets the last commanded JointPosition.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

RecoveryInformation

public RecoveryInformation(JointPosition recoveryPosition,
                           IMotionControlMode recoveryMode,
                           PhysicalObject attachedToolObject)

Creates an instance of the class.

Parameters:

recoveryPosition - the last commanded JointPosition.

recoveryMode - the IMotionControlMode of the last executed motion.

attachedToolObject - a physical object that represents the load data and TCP state at the time the motion was commanded

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

getRecoveryPosition

public JointPosition getRecoveryPosition()

Gets the last commanded JointPosition.

Returns:

the last commanded JointPosition.

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.

getAttachedToolObject

public PhysicalObject getAttachedToolObject()

Returns the physical object that represents the load data and TCP state at the time the motion was commanded.

Returns:

the physical object that represents the load data and TCP state at the time the motion was commanded

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.

getRecoveryMode

public IMotionControlMode getRecoveryMode()

Gets the IMotionControlMode of the last executed motion.

Returns:

the IMotionControlMode of the last executed 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.

toString

public String toString()

Overrides:

toString in class Object