com.kuka.roboticsAPI.deviceModel
Class JointConfigurationInformation

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

public final class JointConfigurationInformation
extends Object

Contains the joint configuration of a device at a specific frame.

This frame information should be used with the key 'robotName@controllerName'.

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

JointConfigurationInformation(JointPosition joints, String controllerName, String deviceName)
Creates a new instance of a joint configuration.

JointConfigurationInformation(Robot robot)
Creates a joint configuration for a robot.

Method Summary

String	getControllerName() Gets the name of the controller with which the position was taught.
String	getDeviceName() Gets the name of the device with which the position was taught.
JointPosition	getJointPosition() Gets the joint position of this touchup information.
void	setControllerName(String controllerName) Sets the name of the controller with which the position was taught.
void	setDeviceName(String deviceName) Sets the name of the device with which the position was taught.
void	setJointPosition(JointPosition joints) Sets the joint position of this configuration.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

JointConfigurationInformation

public JointConfigurationInformation(JointPosition joints,
                                     String controllerName,
                                     String deviceName)

Creates a new instance of a joint configuration.

Parameters:

joints - The joint values. null is not allowed.

controllerName - The name of the controller with which the frame was taught.

deviceName - The name of the device with which the frame was taught.

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.

JointConfigurationInformation

public JointConfigurationInformation(Robot robot)

Creates a joint configuration for a robot.

Will not set the base. This has to be done manually.

Parameters:

robot - The robot who did the touchup.

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

getJointPosition

public JointPosition getJointPosition()

Gets the joint position of this touchup information.

Returns:

The joint position of this touchup 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.

setJointPosition

public void setJointPosition(JointPosition joints)

Sets the joint position of this configuration.

Parameters:

joints - The joint position of this configuration.

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.

getControllerName

public String getControllerName()

Gets the name of the controller with which the position was taught.

Returns:

The name of the controller with which the position was taught.

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.

setControllerName

public void setControllerName(String controllerName)

Sets the name of the controller with which the position was taught.

Parameters:

controllerName - The name of the controller with which the position was taught.

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.

getDeviceName

public String getDeviceName()

Gets the name of the device with which the position was taught.

Returns:

The name of the device with which the position was taught.

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.

setDeviceName

public void setDeviceName(String deviceName)

Sets the name of the device with which the position was taught.

Parameters:

deviceName - The name of the device with which the position was taught.

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.