com.kuka.roboticsAPI.deviceModel
Class MobilePlatform

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.SpatialObject
              com.kuka.roboticsAPI.geometricModel.PhysicalObject
                  com.kuka.roboticsAPI.deviceModel.Device
                      com.kuka.roboticsAPI.deviceModel.MovableDevice
                          com.kuka.roboticsAPI.deviceModel.MobilePlatform

All Implemented Interfaces:

com.kuka.common.ITaggable, IOperationModeProvider

public abstract class MobilePlatform
extends MovableDevice

Base class for mobile platforms. Mobile platforms can perform motions (in another way than a robot).

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.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.deviceModel.Device

_hardwareVersion

Constructor Summary

protected

MobilePlatform(Controller controller, String name) Creates an instance of the MobilePlatform class with the specified controller and name.

Method Summary

double[]	getCurrentJointPosition() Returns the current joint positions if available and throw exception if operation is not supported
boolean	isJointPositionInfoCapable() Indicates if the mobile platform is capable of providing joint position information about itself.
ICommandContainer	move(IAction aMotion) Move the platform with an external defined motion.
ICommandContainer	moveAsync(IAction aMotion) Performs an asynchronous motion with the platform.
ICommandContainer	moveAsync(IAction aMotion, IContainerStateListener listener) Performs an asynchronous motion with the platform.
com.kuka.roboticsAPI.controllerModel.StatePortState	refreshHardwareVersion() Refreshes the hardware version.

Methods inherited from class com.kuka.roboticsAPI.deviceModel.MovableDevice

calculateReadyToMove, getOperationMode, getSafetyState, isMotionEnabled, isReadyToMove

Methods inherited from class com.kuka.roboticsAPI.deviceModel.Device

acquireCommandPermit, createDefaultsParameterSet, dispose, getContext, getController, getDefaults, getHardwareVersion, getUniqueName, initialize, isInitialized, onDispose, onInitialize, releaseCommandPermit, setName

Methods inherited from class com.kuka.roboticsAPI.geometricModel.PhysicalObject

addDefaultMotionFrame, getDefaultMotionFrame, getLoadData, move, move, moveAsync, moveAsync, setDefaultMotionFrame

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SpatialObject

attachTo, attachTo, changeParent, detach, switchParent, switchParent

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getFrame, getName, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setRootFrame, setUserParameter, toString, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Constructor Detail

MobilePlatform

protected MobilePlatform(Controller controller,
                         String name)

Creates an instance of the MobilePlatform class with the specified controller and name.

Parameters:

controller - The controller to which this device belongs.

name - The name of the device.

Method Detail

move

public ICommandContainer move(IAction aMotion)

Move the platform with an external defined motion.

Parameters:

aMotion - the Motion

Returns:

the execution container.

moveAsync

public ICommandContainer moveAsync(IAction aMotion)

Performs an asynchronous motion with the platform.

This is an asynchronous call and will return immediately.

Parameters:

aMotion - the Motion

Returns:

the execution container.

moveAsync

public ICommandContainer moveAsync(IAction aMotion,
                                   IContainerStateListener listener)

Performs an asynchronous motion with the platform.

This is an asynchronous call and will return immediately.

Parameters:

aMotion - the motion that should be executed

listener - listener for the command container

Returns:

the command container containing runtime information for the execution of the motion

refreshHardwareVersion

public com.kuka.roboticsAPI.controllerModel.StatePortState refreshHardwareVersion()

Refreshes the hardware version.

Overrides:

refreshHardwareVersion in class Device

Returns:

state port state Unknown

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.

isJointPositionInfoCapable

public boolean isJointPositionInfoCapable()

Indicates if the mobile platform is capable of providing joint position information about itself.

Returns:

true is joint position info is avaliable for the device

getCurrentJointPosition

public double[] getCurrentJointPosition()

Returns the current joint positions if available and throw exception if operation is not supported

Returns: