com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Class SplineData

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.SerializableType
      com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SplineData

All Implemented Interfaces:

com.kuka.common.IDataEquatable, ISerializableType, Cloneable

public class SplineData
extends SerializableType

Class responsible for serializing spline parameters for Sunrise. Only for SplineMotionModule.

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

SplineData(SplineMotion<?> spline, SunriseMappingToken info, Robot robot, com.kuka.common.params.ParameterSet commandParams, AbstractFrame taskFrame)
Creates an instance of the class.

Method Summary

ISerializableType	clone() Creates a copy of this serializable type.
void	fromByteBuffer(FastByteBuffer buffer, int startIndex) Deserializes a type from a byte buffer.
void	fromString(String value) Deserializes the type from a String representation.
double	getBlendCart()
double	getBlendOri()
double	getBlendRelative()
double[]	getCartProfile() Gets a copy of the cartProfile for the spline.
int[]	getDimensions() Gets the 4-dimensional integer array describing the order of this type in each of the four possible dimensions.
double[]	getJointVelocity()
int	getLength() Gets the length in bytes of this type.
double[]	getLoadData()
MessageParameterType	getParameterType() Gets the message type identifier of the type.
double[]	getSplineBase()
double[]	getToolOffset()
TypeIdentifier	getTypeIdentifier() Gets the Sunrise type identifier of the type.
Object	getValue() Gets the raw value of the serializable type.
boolean	hasSameDataAs(Object obj)
void	setValue(Object value) Sets the value for this type.
int	toByteBuffer(FastByteBuffer buffer, int startIndex) Serializes the type in a byte buffer.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.SerializableType

getParameterName, hasParameterNameSet, setParameterName

Methods inherited from class java.lang.Object

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

Constructor Detail

SplineData

public SplineData(SplineMotion<?> spline,
                  SunriseMappingToken info,
                  Robot robot,
                  com.kuka.common.params.ParameterSet commandParams,
                  AbstractFrame taskFrame)

Creates an instance of the class.

Parameters:

spline - Spline to generate the data object from.

info - Mapping info.

robot - Robot that should execute the spline.

commandParams - combined command parameters.

taskFrame - task frame for spline interpolation

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

getCartProfile

public final double[] getCartProfile()

Gets a copy of the cartProfile for the spline.

Returns:

a copy of the cartProfile

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.

toByteBuffer

public int toByteBuffer(FastByteBuffer buffer,
                        int startIndex)

Serializes the type in a byte buffer.

Parameters:

buffer - The byte buffer to which the value should be serialized.

startIndex - The start index for the serialization.

Returns:

The length in bytes of the serialized type.

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.

fromByteBuffer

public void fromByteBuffer(FastByteBuffer buffer,
                           int startIndex)

Deserializes a type from a byte buffer.

Parameters:

buffer - The byte buffe from which the value should be deserialized.

startIndex - The start index of the deserialization.

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.

getValue

public Object getValue()

Gets the raw value of the serializable type.

Returns:

The raw value of the serializable type.

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.

setValue

public void setValue(Object value)

Sets the value for this type. Must be compatible with the type.

Parameters:

value - The value for this type. Must be compatible with the type. The value should never be null. Each subclass must check this.

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.

getParameterType

public MessageParameterType getParameterType()

Gets the message type identifier of the type.

Returns:

The message type identifier of the type.

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.

getTypeIdentifier

public TypeIdentifier getTypeIdentifier()

Gets the Sunrise type identifier of the type.

Returns:

The Sunrise type identifier of the type.

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.

getLength

public int getLength()

Gets the length in bytes of this type.

Returns:

The length in bytes of this type.

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.

getDimensions

public int[] getDimensions()

Gets the 4-dimensional integer array describing the order of this type in each of the four possible dimensions.

Returns:

The 4-dimensional integer array describing the order of this type in each of the four possible dimensions.

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.

fromString

public void fromString(String value)

Deserializes the type from a String representation.

Parameters:

value - The string representation for the type.

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.

hasSameDataAs

public boolean hasSameDataAs(Object obj)

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.

clone

public ISerializableType clone()

Creates a copy of this serializable type.

Specified by:

clone in interface ISerializableType

Specified by:

clone in class SerializableType

Returns:

A copy of this serializable type.

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

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.

getBlendRelative

public double getBlendRelative()

Returns:

return relative blend in %

getBlendCart

public double getBlendCart()

Returns:

absolute cart blend in mm

getBlendOri

public double getBlendOri()

Returns:

absolute ori blend in rad

getJointVelocity

public double[] getJointVelocity()

Returns:

JointVelocity for this motion

getToolOffset

public double[] getToolOffset()

Returns:

the offset of the tool

getSplineBase

public double[] getSplineBase()

Returns:

base frame of Spline

getLoadData

public double[] getLoadData()

Returns:

loadData of Spline