com.kuka.roboticsAPI.geometricModel
Class Workpiece

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.geometricModel.Workpiece

All Implemented Interfaces:

com.kuka.common.ITaggable

public class Workpiece
extends PhysicalObject

A work piece is something on which a robot performs actions.

On the other hand, a work piece may be attached to a robot and the robot may move it to an external TCP.

Constructor Summary

Workpiece(String name)
Creates a new work piece instance with a root frame.

Method Summary

void	addGripPoint(ObjectFrame frame) Adds a new grip point to this work piece.
ObjectFrame	getGripPoint(String name) Gets the grip point of this work piece by its frame name.
void	removeFrame(ObjectFrame frame) Removes a child frame from this object.

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, setName, 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, 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

Workpiece

public Workpiece(String name)

Creates a new work piece instance with a root frame.

Parameters:

name - the name of the work piece

Method Detail

getGripPoint

public ObjectFrame getGripPoint(String name)

Gets the grip point of this work piece by its frame name. A work piece may bring some special drive- and grip point with it to define how it can be gripped.

Parameters:

name - the name of the desired grip point.

Returns:

the grip point of this work piece with the specified name.

addGripPoint

public void addGripPoint(ObjectFrame frame)

Adds a new grip point to this work piece.

The frame will also be added as child frame to the work piece.

Parameters:

frame - the frame describing the point.

removeFrame

public void removeFrame(ObjectFrame frame)

Removes a child frame from this object. If the frame is also a grip point - grip point will also be deleted.

Overrides:

removeFrame in class SceneGraphObject

Parameters:

frame - The old child.