com.kuka.roboticsAPI.controllerModel.sunrise
Class FiredTriggerInfo

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.FiredTriggerInfo

All Implemented Interfaces:

IFiredTriggerInfo

public class FiredTriggerInfo
extends Object
implements IFiredTriggerInfo

This class contains information about a fired trigger.

Constructor Summary

FiredTriggerInfo(ICondition firedCondition, IMotionContainer motionContainer, int missedEvents, Date triggerTime, PositionInformation positionInformation)
Creates a new instance of FiredConditionInfo.

Method Summary

ICondition	getFiredCondition() Gets the condition which has fired.
int	getMissedEvents() Gets the amount of missed events of this condition that were missed since the last trigger event.
IMotionContainer	getMotionContainer() Gets the motion container that was executed when the trigger was fired.
PositionInformation	getPositionInformation() Gets the position information of the current and commanded Cartesian and Joint-specific position of the robot, when the trigger was fired.
Date	getTriggerTime() Gets the time when the trigger occurred (in UTC).

Methods inherited from class java.lang.Object

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

Constructor Detail

FiredTriggerInfo

public FiredTriggerInfo(ICondition firedCondition,
                        IMotionContainer motionContainer,
                        int missedEvents,
                        Date triggerTime,
                        PositionInformation positionInformation)

Creates a new instance of FiredConditionInfo.

Parameters:

firedCondition - The condition which has fired.

motionContainer - The motion container that was executed when the trigger was filed. The motion container can be used to get the executed motion.

missedEvents - The amount of events of this condition that were missed since the last trigger event. Events are missed, if die event callback is still executed, when the next event occurs.

triggerTime - The time when the trigger occurred (in UTC).

positionInformation - The position information of the current and commanded Cartesian and joint-specific position of the robot when the trigger occurs.

Method Detail

getFiredCondition

public ICondition getFiredCondition()

Description copied from interface: IFiredTriggerInfo

Gets the condition which has fired.

Specified by:

getFiredCondition in interface IFiredTriggerInfo

Returns:

the condition which has fired

getMissedEvents

public int getMissedEvents()

Description copied from interface: IFiredTriggerInfo

Gets the amount of missed events of this condition that were missed since the last trigger event. Events are missed, if die event callback is still executed, when the next event occurs.

Specified by:

getMissedEvents in interface IFiredTriggerInfo

Returns:

the amount of missed events of this condition.

getTriggerTime

public Date getTriggerTime()

Description copied from interface: IFiredTriggerInfo

Gets the time when the trigger occurred (in UTC).

Specified by:

getTriggerTime in interface IFiredTriggerInfo

Returns:

gets the time when the trigger occurred

getMotionContainer

public IMotionContainer getMotionContainer()

Description copied from interface: IFiredTriggerInfo

Gets the motion container that was executed when the trigger was fired. The motion container can be used to get the executed motion.

Specified by:

getMotionContainer in interface IFiredTriggerInfo

Returns:

the motion container that was executed when the trigger was fired

getPositionInformation

public PositionInformation getPositionInformation()

Description copied from interface: IFiredTriggerInfo

Gets the position information of the current and commanded Cartesian and Joint-specific position of the robot, when the trigger was fired.

Specified by:

getPositionInformation in interface IFiredTriggerInfo

Returns:

position information when the trigger occurred.