com.kuka.roboticsAPI.deviceModel
Class TeachInformation

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

public class TeachInformation
extends Object

Gets standard teach information of the frame.

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

TeachInformation()
Creates an empty teach information instance.

TeachInformation(Robot robot)
Creates a filled teach information instance.

Method Summary

String	getBaseName() Gets the name of the base with which the position was taught.
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.
String	getTcpName() Get the TCP name.
ITransformation	getTcpTransformation() Get the TCP transformation.
String	getToolName() Gets the name of the tool with which the position was taught.
boolean	isTcpCloseTo(ITransformation transformationToCheck) Checks if the given transformation is (nearly) equal to the taught TCP transformation of teach info.
void	setBaseName(String baseName) Sets the name of the base with which the position was taught.
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	setTcpName(String tcpName) Set the TCP name.
void	setTcpTransformation(ITransformation tcpTrafo) Set the TCP transformation.
void	setToolName(String toolName) Sets the name of the tool with which the position was taught.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

TeachInformation

public TeachInformation()

Creates an empty teach information instance.

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.

TeachInformation

public TeachInformation(Robot robot)

Creates a filled teach information instance.

Parameters:

robot - The robot which was used to teach the frame.

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

getTcpName

public String getTcpName()

Get the TCP name.

Returns:

the TCP name

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.

setTcpName

public void setTcpName(String tcpName)

Set the TCP name.

Parameters:

tcpName - the TCP name

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.

getTcpTransformation

public ITransformation getTcpTransformation()

Get the TCP transformation.

Returns:

the TCP transformation

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.

setTcpTransformation

public void setTcpTransformation(ITransformation tcpTrafo)

Set the TCP transformation.

Parameters:

tcpTrafo - the TCP transformation

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.

getToolName

public String getToolName()

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

Returns:

The name of the tool 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.

setToolName

public void setToolName(String toolName)

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

Parameters:

toolName - The name of the tool 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.

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.

getBaseName

public String getBaseName()

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

Returns:

The name of the base 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.

setBaseName

public void setBaseName(String baseName)

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

Parameters:

baseName - The name of the base 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.

isTcpCloseTo

public boolean isTcpCloseTo(ITransformation transformationToCheck)

Checks if the given transformation is (nearly) equal to the taught TCP transformation of teach info. Transformation is relative to robot flange.

Parameters:

transformationToCheck - transformation that should be checked against the TCP teach transformation

Returns:

true if the TCP teach transformation is (nearly) equal to the given transformation.

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.