com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering
Class PositionMasteringInfo

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering.PositionMasteringInfo

public class PositionMasteringInfo
extends Object

Container info object for mastering information.

Constructor Summary

PositionMasteringInfo(String toolId, int jointNumber, boolean[] masteringStates, boolean[] hasEncoderReferences, boolean[] hasToolOffsets)
Constructor.

Method Summary

boolean	areAllJointsMastered() Checks whether all joints are currently mastered.
boolean[]	getHasEncoderReferences() Returns the encoder reference states for all joints.
boolean[]	getHasToolOffsets() Returns the tool offset states for all joints.
int	getJointNumber() Get joint number.
boolean	getMasteringState(int jointIndex) The mastering state of the given joint.
boolean[]	getMasteringStates() Returns the mastering states for all joints.
String	getToolId() Returns the tool id used to get the mastering info.
boolean	hasEncoderReferences(int jointIndex) The encoder reference state of the given joint.
boolean	hasToolOffset(int jointIndex) The tool offset state of the given joint.
boolean	isWithTool() Checks whether the mastering info has been retrieved with tool.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

PositionMasteringInfo

public PositionMasteringInfo(String toolId,
                             int jointNumber,
                             boolean[] masteringStates,
                             boolean[] hasEncoderReferences,
                             boolean[] hasToolOffsets)

Constructor.

Parameters:

toolId - the ID of the tool

jointNumber - the number of joints

masteringStates - the mastering states

hasEncoderReferences - the encoder reference states

hasToolOffsets - the tool offset states

Method Detail

getJointNumber

public int getJointNumber()

Get joint number.

Returns:

the number of joints

getMasteringState

public boolean getMasteringState(int jointIndex)

The mastering state of the given joint.

Parameters:

jointIndex - the index of the joint

Returns:

true if the joint is mastered

hasEncoderReferences

public boolean hasEncoderReferences(int jointIndex)

The encoder reference state of the given joint.

Parameters:

jointIndex - the index of the joint

Returns:

true if the joint's encoder reference is known

hasToolOffset

public boolean hasToolOffset(int jointIndex)

The tool offset state of the given joint.

Parameters:

jointIndex - the index of the joint

Returns:

true if the joint's tool offset is known

getMasteringStates

public boolean[] getMasteringStates()

Returns the mastering states for all joints.

Returns:

the mastering state

getHasEncoderReferences

public boolean[] getHasEncoderReferences()

Returns the encoder reference states for all joints.

Returns:

the mastering state

getHasToolOffsets

public boolean[] getHasToolOffsets()

Returns the tool offset states for all joints.

Returns:

the mastering state

getToolId

public String getToolId()

Returns the tool id used to get the mastering info.

Returns:

the tool id

isWithTool

public boolean isWithTool()

Checks whether the mastering info has been retrieved with tool.

Returns:

true if info has been retrieved with tool, false otherwise

areAllJointsMastered

public boolean areAllJointsMastered()

Checks whether all joints are currently mastered.

Returns:

true if all joints are mastered, false otherwise

toString

public String toString()

Overrides:

toString in class Object