com.kuka.roboticsAPI.controllerModel.sunrise
Class MotionSprPrimitive

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.Primitive
      com.kuka.roboticsAPI.controllerModel.sunrise.SprPrimitive
          com.kuka.roboticsAPI.controllerModel.sunrise.MotionSprPrimitive

public class MotionSprPrimitive
extends SprPrimitive

Primitiv Klasse für die MotionSPR die für jede Bewegung einen eigenen SPR abbilden. Gegenstück zu MotionStackPrimitive für Einzel-SPR. Übernimmt das Compound-Eventhandling für Segmentevents.

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

MotionSprPrimitive(SunriseExecutionContainer container, SPR motionSPR)
Creates a new instance of this MotionSprPrimitive.

Method Summary

void	addRuntimeData(SplineRuntimeData splineRuntimeData) Adds the SplineRuntimeData, which handles the onCurrentSegmentChanged events.
protected void	handleSprCompoundEvent(SPR spr, Message msg) Called when one of the SPR compounds has thrown an event.
boolean	isIgnoreMotionSegmentEndSignal()
void	setIgnoreMotionSegmentEndSignal(boolean ignoreSegmentEndSignal) Set flag if container should be finished when motion SPR is finished instead of finishing when SEGMENT_END arrives, e.g. for "keep it shaking", i.e. wait until the shaking pattern has reached its final phase in JointSineImpedanceControlMode.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.SprPrimitive

cancel, canResumeAfterPause, getAllSprs, getSPR, handleSprStateChanged, toString, unregisterAllSprListener

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.Primitive

addStateListener, createFiredConditionInfo, getContainer, getRedundancy, getState, mapSunriseStateToCommandState, registerAsSprListener, removeStateListener, setState, stateFromSpr, unregisterAsSprListener

Methods inherited from class java.lang.Object

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

Constructor Detail

MotionSprPrimitive

public MotionSprPrimitive(SunriseExecutionContainer container,
                          SPR motionSPR)

Creates a new instance of this MotionSprPrimitive.

Parameters:

container - the container that this primitive belongs to

motionSPR - the SPR that makes up this primitive

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

handleSprCompoundEvent

protected void handleSprCompoundEvent(SPR spr,
                                      Message msg)

Description copied from class: Primitive

Called when one of the SPR compounds has thrown an event.

Overrides:

handleSprCompoundEvent in class Primitive

Parameters:

spr - The SPR whose compound has thrown an event.

msg - compound event message.

addRuntimeData

public void addRuntimeData(SplineRuntimeData splineRuntimeData)

Adds the SplineRuntimeData, which handles the onCurrentSegmentChanged events.

Parameters:

splineRuntimeData - the handler

isIgnoreMotionSegmentEndSignal

public boolean isIgnoreMotionSegmentEndSignal()

Returns:

true if container should be finished when motionSPR SPR is finished

setIgnoreMotionSegmentEndSignal

public void setIgnoreMotionSegmentEndSignal(boolean ignoreSegmentEndSignal)

Set flag if container should be finished when motion SPR is finished instead of finishing when SEGMENT_END arrives, e.g. for "keep it shaking", i.e. wait until the shaking pattern has reached its final phase in JointSineImpedanceControlMode.

Parameters:

ignoreSegmentEndSignal - true if container should be finished when motion SPR is finished instead of finishing when SEGMENT_END arrives.