com.kuka.roboticsAPI.geometricModel
Enum CartDOF

java.lang.Object
  java.lang.Enum<CartDOF>
      com.kuka.roboticsAPI.geometricModel.CartDOF

All Implemented Interfaces:

Serializable, Comparable<CartDOF>

public enum CartDOF
extends Enum<CartDOF>

This class represents degrees of freedom and sets of translational and rotational degrees of freedom.

Enum Constant Summary

A
Rotation in A direction, i.e. around positive Z axis.

ALL
All six degrees of freedom, i.e.

B
Rotation in B direction, i.e. around positive Y axis.

C
Rotation in C direction, i.e. around positive X axis.

ROT
All rotational degrees of freedom, i.e.

TRANSL
All translational degrees of freedom, i.e.

X
Translation in X direction.

Y
Translation in Y direction.

Z
Translation in Z direction.

Method Summary

boolean	isRotDof() Return true, if this is a rotational degree of freedom, i.e.
boolean	isTranslDof() Return true, if this is a translational degree of freedom, i.e.
int	toInt() Gets the internal value for the specific enum item.
static CartDOF	valueOf(String name) Returns the enum constant of this type with the specified name.
static CartDOF[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

X

public static final CartDOF X

Translation in X direction.

Y

public static final CartDOF Y

Translation in Y direction.

Z

public static final CartDOF Z

Translation in Z direction.

A

public static final CartDOF A

Rotation in A direction, i.e. around positive Z axis.

B

public static final CartDOF B

Rotation in B direction, i.e. around positive Y axis.

C

public static final CartDOF C

Rotation in C direction, i.e. around positive X axis.

ALL

public static final CartDOF ALL

All six degrees of freedom, i.e. X, Y, Z, A, B, C.

TRANSL

public static final CartDOF TRANSL

All translational degrees of freedom, i.e. X, Y, Z.

ROT

public static final CartDOF ROT

All rotational degrees of freedom, i.e. A, B, C.

Method Detail

values

public static CartDOF[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (CartDOF c : CartDOF.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static CartDOF valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

toInt

public int toInt()

Gets the internal value for the specific enum item.

Returns:

The internal value for the specific enum item.

isTranslDof

public boolean isTranslDof()

Return true, if this is a translational degree of freedom, i.e. X, Y, Z, or TRANSL, and false otherwise.

Returns:

True, if this is a translational degree of freedom, i.e. X, Y, Z, or TRANSL, and false otherwise.

isRotDof

public boolean isRotDof()

Return true, if this is a rotational degree of freedom, i.e. A, B, C, or ROT, and false otherwise.

Returns:

True, if this is a rotational degree of freedom, i.e. A, B, C, or ROT, and false otherwise.