com.kuka.roboticsAPI.deviceModel
Class MovableDevice

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

All Implemented Interfaces:

com.kuka.common.ITaggable, IOperationModeProvider

Direct Known Subclasses:

MobilePlatform, Robot

public class MovableDevice
extends Device
implements IOperationModeProvider

A movable device is a device which has actuators to perform motions by its own. It can hold a tool and do some simple motions out of the box. Furthermore, it can be used in complex motions as device.

Field Summary

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

_hardwareVersion

Constructor Summary

protected

MovableDevice(Controller controller, String name) Creates a new MovableDevice.

Method Summary

static boolean	calculateReadyToMove(ISafetyState safetyState) Calculates if the robot is ready to move with the specified safety state.
com.kuka.roboticsAPI.deviceModel.OperationMode	getOperationMode() Get the operation mode associated with the device.
ISafetyState	getSafetyState() Gets the state of safety signals.
boolean	isMotionEnabled() A Robot is motion enabled if the safety signals no stop.
boolean	isReadyToMove() A Robot is ready to move if a movement command can be executed.

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

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

MovableDevice

protected MovableDevice(Controller controller,
                        String name)

Creates a new MovableDevice.

Parameters:

controller - The controller to which this device belongs.

name - The name of the device.

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

getSafetyState

public ISafetyState getSafetyState()

Gets the state of safety signals.

Returns:

the safety state

getOperationMode

public com.kuka.roboticsAPI.deviceModel.OperationMode getOperationMode()

Description copied from interface: IOperationModeProvider

Get the operation mode associated with the device.

Specified by:

getOperationMode in interface IOperationModeProvider

Returns:

The operation mode.

isReadyToMove

public boolean isReadyToMove()

A Robot is ready to move if a movement command can be executed. For a general robot this method returns true if the SunriseSafetyState.SafetyStopType is SunriseSafetyState.SafetyStopType.NOSTOP and the correct enabling switch is pressed. To be notified about changes of this state, use IControllerStateListener.onIsReadyToMoveChanged(com.kuka.roboticsAPI.deviceModel.Device, boolean).

Returns:

true, if the robot is ready to move at this moment
false, otherwise

isMotionEnabled

public boolean isMotionEnabled()

A Robot is motion enabled if the safety signals no stop.

Returns:

true, if the robot is motion enabled at the moment
false, otherwise

calculateReadyToMove

public static boolean calculateReadyToMove(ISafetyState safetyState)

Calculates if the robot is ready to move with the specified safety state.

Parameters:

safetyState - the current safety state.

Returns:

true, if the robot is ready to move
false, otherwise