com.kuka.roboticsAPI.motionModel
Class BrakeTestRuntimeData

java.lang.Object
  com.kuka.roboticsAPI.commandModel.AbstractCommandRuntimeData
      com.kuka.roboticsAPI.motionModel.BrakeTestRuntimeData

All Implemented Interfaces:

ICommandRuntimeData

public class BrakeTestRuntimeData
extends AbstractCommandRuntimeData
implements ICommandRuntimeData

Runtime data for a brake test.

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

BrakeTestRuntimeData(BrakeTest brakeTestMotion)
Constructor.

Method Summary

void	finalizeResult(BrakeState state) Sets the state.
BrakeTestResult	getBrakeTestResult() Creates and returns an instance of BrakeTestResult.
void	setBrakeIndex(int brakeIndex) Sets the brake index.
void	setFriction(double friction) Sets the friction.
void	setGravity(double gravity) Sets the gravity.
void	setMaxBrakeHoldingTorque(double maxBrakeHoldingTorque) Sets the maximal brake holding torque.
void	setMeasuredBrakeHoldingTorque(double measuredBrakeHoldingTorque) Sets the measured brake holding torque.
void	setMinBrakeHoldingTorque(double minBrakeHoldingTorque) Sets the minimal brake holding torque.
void	setMotorHoldingTorque(double motorHoldingTorque) Sets the motor holding torque.
void	setMotorIndex(int motorIndex) Sets the motor index.
void	setMotorMaximalTorque(double motorMaximalTorque) Sets the motor maximal torque.
void	setTestedTorque(double testedTorque) Sets the tested torque.

Methods inherited from class com.kuka.roboticsAPI.commandModel.AbstractCommandRuntimeData

addRuntimeData, getRuntimeData

Methods inherited from class java.lang.Object

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

Constructor Detail

BrakeTestRuntimeData

public BrakeTestRuntimeData(BrakeTest brakeTestMotion)

Constructor.

Parameters:

brakeTestMotion - Brake test representation.

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

getBrakeTestResult

public BrakeTestResult getBrakeTestResult()

Creates and returns an instance of BrakeTestResult. If finalizeResult wasn't called before, it'll result in an IllegalStateException.

Returns:

the result of a brake test.

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.

setMotorIndex

public void setMotorIndex(int motorIndex)

Sets the motor index.

Parameters:

motorIndex - the motor index.

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.

setBrakeIndex

public void setBrakeIndex(int brakeIndex)

Sets the brake index.

Parameters:

brakeIndex - the brake index.

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.

setFriction

public void setFriction(double friction)

Sets the friction.

Parameters:

friction - the friction.

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.

setGravity

public void setGravity(double gravity)

Sets the gravity.

Parameters:

gravity - the gravity.

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.

setMeasuredBrakeHoldingTorque

public void setMeasuredBrakeHoldingTorque(double measuredBrakeHoldingTorque)

Sets the measured brake holding torque.

Parameters:

measuredBrakeHoldingTorque - the measured brake holding torque.

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.

setMotorHoldingTorque

public void setMotorHoldingTorque(double motorHoldingTorque)

Sets the motor holding torque.

Parameters:

motorHoldingTorque - the motor holding torque.

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.

setMotorMaximalTorque

public void setMotorMaximalTorque(double motorMaximalTorque)

Sets the motor maximal torque.

Parameters:

motorMaximalTorque - the motor maximal torque.

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.

setMaxBrakeHoldingTorque

public void setMaxBrakeHoldingTorque(double maxBrakeHoldingTorque)

Sets the maximal brake holding torque.

Parameters:

maxBrakeHoldingTorque - the maximal brake holding torque.

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.

setMinBrakeHoldingTorque

public void setMinBrakeHoldingTorque(double minBrakeHoldingTorque)

Sets the minimal brake holding torque.

Parameters:

minBrakeHoldingTorque - the minimal brake holding torque.

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.

setTestedTorque

public void setTestedTorque(double testedTorque)

Sets the tested torque.

Parameters:

testedTorque - the tested torque.

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.

finalizeResult

public void finalizeResult(BrakeState state)

Sets the state. Setting the state allows to call getBrakeTestResult successfully.

Parameters:

state - the brake state.

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.