com.kuka.roboticsAPI.deviceModel
Class CartesianVelocityLimitInfo

java.lang.Object
  com.kuka.roboticsAPI.deviceModel.CartesianVelocityLimitInfo

public class CartesianVelocityLimitInfo
extends Object

Container class for the Cartesian velocity limit related information.

Field Summary

static int

INVALID_CARTESIAN_VELOCITYVALUE The dedicated value for the invalid (or not set) Cartesian velocity limit.

Constructor Summary

CartesianVelocityLimitInfo(Map<CartVelocityLimitSourceType,Integer> velocitySourceMap, int aggregatedVelocityLimit)

Method Summary

Integer	getAggregatedVelocityLimit() Gets the aggregated Cartesian velocity value for the device which is the minimum of the - the currently active (and valid) Cartesian Safety velocity limit - the currently set (and valid) device specific Cartesian velocity limit - the operation mode specific Cartesian velocity limit (250 mm/s if the current operation mode is T1/CRR).
Integer	getDeviceVelocityLimit() Gets the device specific Cartesian velocity limit for the current device in [mm/s].
Integer	getOperationModeVelocityLimit() Gets the operation mode specific Cartesian velocity limit [mm/s].
Integer	getSafetyVelocityLimit() Gets the Safety Cartesian velocity limit [mm/s].
Set<CartVelocityLimitSourceType>	getVelocityLimitSources() Function for returning all the sources which caused the current aggregated velocity limit.
String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

INVALID_CARTESIAN_VELOCITYVALUE

public static final int INVALID_CARTESIAN_VELOCITYVALUE

The dedicated value for the invalid (or not set) Cartesian velocity limit.

See Also:

Constant Field Values

Constructor Detail

CartesianVelocityLimitInfo

public CartesianVelocityLimitInfo(Map<CartVelocityLimitSourceType,Integer> velocitySourceMap,
                                  int aggregatedVelocityLimit)

Parameters:

velocitySourceMap - Map which contains the actual velocity limits for all sources.

aggregatedVelocityLimit - The actual aggregated Cartesian velocity limit

Throws:

IllegalArgumentException - If the velocitySourceMap argument is null or if it does not contain all entries for the VelocitySourceEnum enum values.

Method Detail

getVelocityLimitSources

public Set<CartVelocityLimitSourceType> getVelocityLimitSources()

Function for returning all the sources which caused the current aggregated velocity limit.

Returns:

The set of velocity limit sources for the aggregated velocity limit.

getAggregatedVelocityLimit

public Integer getAggregatedVelocityLimit()

Gets the aggregated Cartesian velocity value for the device which is the minimum of the - the currently active (and valid) Cartesian Safety velocity limit - the currently set (and valid) device specific Cartesian velocity limit - the operation mode specific Cartesian velocity limit (250 mm/s if the current operation mode is T1/CRR).

Returns:

The currently active Cartesian velocity limit for the device in [mm/s]. If the return value is -1, it means that there is no limitation for the Cartesian velocity.

getDeviceVelocityLimit

public Integer getDeviceVelocityLimit()

Gets the device specific Cartesian velocity limit for the current device in [mm/s].

Returns:

The currently set device specific Cartesian velocity limit in [mm/s]. If the return value is -1, it means that there is no limitation for the device specific Cartesian velocity.(In other words, the device specific Cartesian velocity limit is disabled.)

getOperationModeVelocityLimit

public Integer getOperationModeVelocityLimit()

Gets the operation mode specific Cartesian velocity limit [mm/s].

Returns:

The currently active operation mode specific Cartesian velocity limit in [mm/s]. If the return value is -1, it means that there is no operation mode specific Cartesian velocity limit. (In other words, there is not velocity restriction in the current mode.)

getSafetyVelocityLimit

public Integer getSafetyVelocityLimit()

Gets the Safety Cartesian velocity limit [mm/s].

Returns:

The currently active Safety Cartesian velocity limit in [mm/s]. If the return value is -1, it means that there is no Safety Cartesian velocity limit. (In other words, there is not velocity restriction by the Safety Controller.)

toString

public String toString()

Overrides:

toString in class Object