com.kuka.roboticsAPI.controllerModel.sunrise.conditions
Class ErrStateDrivesCondition

java.lang.Object
  com.kuka.roboticsAPI.conditionModel.AbstractCondition
      com.kuka.roboticsAPI.conditionModel.RobotCondition
          com.kuka.roboticsAPI.controllerModel.sunrise.conditions.ErrStateDrivesCondition

All Implemented Interfaces:

ICondition

public class ErrStateDrivesCondition
extends RobotCondition

ErrStateDrivesCondition is used to monitor the state of the drives. Depending on the state, a corresponding reaction has already been performed by the drives themselves or should be performed by the code, which evaluates the condition. See the definition of the enum for further information.

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.

Nested Class Summary

static class

ErrStateDrivesCondition.ErrStateDrives Defines the different possible error states.

Constructor Summary

ErrStateDrivesCondition(Robot robot, EnumSet<ErrStateDrivesCondition.ErrStateDrives> errStateDrives)
Condition is fulfilled if at least one of the parameterized stopDemands is requested.

Method Summary

EnumSet<ErrStateDrivesCondition.ErrStateDrives>	getStopRequestsFromDrives() Returns an EnumSet of the configured StopRequests from the drives for this condition.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.conditionModel.RobotCondition

getController, getRobot, setRobot

Methods inherited from class com.kuka.roboticsAPI.conditionModel.AbstractCondition

and, invert, or, xor

Methods inherited from class java.lang.Object

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

Constructor Detail

ErrStateDrivesCondition

public ErrStateDrivesCondition(Robot robot,
                               EnumSet<ErrStateDrivesCondition.ErrStateDrives> errStateDrives)

Condition is fulfilled if at least one of the parameterized stopDemands is requested.

Parameters:

robot - The robot.

errStateDrives - Defines for which stop-demands the condition should be fulfilled

Method Detail

getStopRequestsFromDrives

public EnumSet<ErrStateDrivesCondition.ErrStateDrives> getStopRequestsFromDrives()

Returns an EnumSet of the configured StopRequests from the drives for this condition.

Returns:

The configured StopRequests from the drives

toString

public String toString()

Overrides:

toString in class Object