com.kuka.roboticsAPI.deviceModel.kmp
Class CartesianCoordinateVelocityArrayIndexConverter

java.lang.Object
  com.kuka.roboticsAPI.deviceModel.kmp.CartesianCoordinateVelocityArrayIndexConverter

public class CartesianCoordinateVelocityArrayIndexConverter
extends Object

class to convert CartesianCoordinate to jog velocity array index, and back.

Constructor Summary

CartesianCoordinateVelocityArrayIndexConverter()

Method Summary

static int	cartesianCoordinatesToVelocityArrayIndex(com.kuka.roboticsAPI.deviceModel.CartesianCoordinates coordinate) Converts a CartesianCoordinates to velocity array index.
static int	getIndexOfCartesianCoordinateTheta() Returns array index for CartesianCoordinates.Theta.
static int	getIndexOfCartesianCoordinateX() Returns array index for CartesianCoordinates.X.
static int	getIndexOfCartesianCoordinateY() Returns array index for CartesianCoordinates.Y.
static com.kuka.roboticsAPI.deviceModel.CartesianCoordinates	velocityArrayIndexToCartesianCoordinates(int index) Converts an int velocity array index to CartesianCoordinate. (0 - X, 1 - Y, 2 - Y)

Methods inherited from class java.lang.Object

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

Constructor Detail

CartesianCoordinateVelocityArrayIndexConverter

public CartesianCoordinateVelocityArrayIndexConverter()

Method Detail

velocityArrayIndexToCartesianCoordinates

public static com.kuka.roboticsAPI.deviceModel.CartesianCoordinates velocityArrayIndexToCartesianCoordinates(int index)

Converts an int velocity array index to CartesianCoordinate. (0 - X, 1 - Y, 2 - Y)

Parameters:

index - (valid indexes: 0,1,2)

Returns:

CartesianCoordinate (X/Y/Theta)

cartesianCoordinatesToVelocityArrayIndex

public static int cartesianCoordinatesToVelocityArrayIndex(com.kuka.roboticsAPI.deviceModel.CartesianCoordinates coordinate)

Converts a CartesianCoordinates to velocity array index. (X -0, Y - 1, Theta - 2)

Parameters:

coordinate - (valid CartesianCoordinates: X,Y,Theta)

Returns:

index (0/1/2)

getIndexOfCartesianCoordinateX

public static int getIndexOfCartesianCoordinateX()

Returns array index for CartesianCoordinates.X.

Returns:

0

getIndexOfCartesianCoordinateY

public static int getIndexOfCartesianCoordinateY()

Returns array index for CartesianCoordinates.Y.

Returns:

1

getIndexOfCartesianCoordinateTheta

public static int getIndexOfCartesianCoordinateTheta()

Returns array index for CartesianCoordinates.Theta.

Returns:

2