com.kuka.roboticsAPI.executionModel
Interface IFiredTriggerInfo

All Known Implementing Classes:

FiredTriggerInfo

public interface IFiredTriggerInfo

Interface to get information about a fired trigger.

Method Summary

ICondition	getFiredCondition() Gets the condition which has fired.
int	getMissedEvents() Gets the amount of missed events of this condition that were missed since the last trigger event.
IMotionContainer	getMotionContainer() Gets the motion container that was executed when the trigger was fired.
PositionInformation	getPositionInformation() Gets the position information of the current and commanded Cartesian and Joint-specific position of the robot, when the trigger was fired.
Date	getTriggerTime() Gets the time when the trigger occurred (in UTC).

Method Detail

getMissedEvents

int getMissedEvents()

Gets the amount of missed events of this condition that were missed since the last trigger event. Events are missed, if die event callback is still executed, when the next event occurs.

Returns:

the amount of missed events of this condition.

getTriggerTime

Date getTriggerTime()

Gets the time when the trigger occurred (in UTC).

Returns:

gets the time when the trigger occurred

getMotionContainer

IMotionContainer getMotionContainer()

Gets the motion container that was executed when the trigger was fired. The motion container can be used to get the executed motion.

Returns:

the motion container that was executed when the trigger was fired

getFiredCondition

ICondition getFiredCondition()

Gets the condition which has fired.

Returns:

the condition which has fired

getPositionInformation

PositionInformation getPositionInformation()

Gets the position information of the current and commanded Cartesian and Joint-specific position of the robot, when the trigger was fired.

Returns:

position information when the trigger occurred.