com.kuka.roboticsAPI.motionModel
Class CIRC

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>
      com.kuka.roboticsAPI.motionModel.Motion<T>
          com.kuka.roboticsAPI.motionModel.KROSMotion<T>
              com.kuka.roboticsAPI.motionModel.RobotMotion<T>
                  com.kuka.roboticsAPI.motionModel.SplineMotion<T>
                      com.kuka.roboticsAPI.motionModel.SplineMotionCP<T>
                          com.kuka.roboticsAPI.motionModel.AbsoluteSplineMotionCP<CIRC>
                              com.kuka.roboticsAPI.motionModel.CIRC

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IMotionWithDestinationFrame, IParameterizable

public final class CIRC
extends AbsoluteSplineMotionCP<CIRC>

A CIRC motion is a motion along a circular path. The path is defined as the circle through the starting point of the motion, the given auxiliary frame and the given target frame. Per default, the motion execution will follow the path through the auxiliary frame and stop at the target frame. The motion execution can be altered with setCircAngle(double).

The CIRC motion may be used inside a Spline to indicate a CIRC segment, or can be used for a standalone CIRC motion, too.

Nested Class Summary

Nested classes/interfaces inherited from class com.kuka.roboticsAPI.motionModel.SplineMotion

SplineMotion.SplineType

Constructor Summary

CIRC(AbstractFrame auxiliaryFrame, AbstractFrame destination)
Creates a new CIRC motion.

Method Summary

AbstractFrame	getAuxiliaryFrame() Gets the auxiliary frame for the CIRC motion.
protected String	getMotionName() Gets the name of the motion.
SplineMotion.SplineType	getType()
boolean	hasAuxPointBehavior() Returns true if the orientation behavior at the auxiliary point is set.
boolean	hasCircAngle() Returns true if the circ angle value in rad is set.
boolean	hasEndPointBehavior() Returns true if the orientation behavior at the end point of the motion is set.
boolean	hasOrientationReferenceSystem() Returns true if the reference system for orientation control is set.
CIRC	setAuxPointBehavior(CircAuxPointBehavior value) Sets the orientation behavior at the auxiliary point.
CIRC	setCircAngle(double value) Sets the circular angle for this motion.
CIRC	setEndPointBehavior(CircEndPointBehavior value) Sets the orientation behavior at the motion's end point.
CIRC	setOrientationReferenceSystem(OrientationReferenceSystem value) Sets this motion's reference system for orientation control.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.motionModel.AbsoluteSplineMotionCP

getDestination

Methods inherited from class com.kuka.roboticsAPI.motionModel.SplineMotionCP

getCartAcceleration, getCartJerk, getCartVelocity, getOrientationAcceleration, getOrientationJerk, getOrientationType, getOrientationVelocity, hasCartAcceleration, hasCartJerk, hasCartVelocity, hasOrientationAcceleration, hasOrientationJerk, hasOrientationType, hasOrientationVelocity, setCartAcceleration, setCartJerk, setCartVelocity, setOrientationAcceleration, setOrientationJerk, setOrientationType, setOrientationVelocity

Methods inherited from class com.kuka.roboticsAPI.motionModel.SplineMotion

formatParameterInfo, getJointJerkRel, getJointJerkRel, getMotions, hasJointJerkRel, hasJointJerkRel, setJointJerkRel, setJointJerkRel, setJointJerkRel

Methods inherited from class com.kuka.roboticsAPI.motionModel.RobotMotion

getBlendingCart, getBlendingOri, getBlendingRel, getJointAccelerationRel, getJointAccelerationRel, getJointVelocityRel, getJointVelocityRel, hasBlendingCart, hasBlendingOri, hasBlendingRel, hasJointAccelerationRel, hasJointAccelerationRel, hasJointVelocityRel, hasJointVelocityRel, setBlendingCart, setBlendingOri, setBlendingRel, setJointAccelerationRel, setJointAccelerationRel, setJointAccelerationRel, setJointVelocityRel, setJointVelocityRel, setJointVelocityRel

Methods inherited from class com.kuka.roboticsAPI.motionModel.KROSMotion

acquireResources, addMotionOverlay, breakWhen, getConditions, getMode, getMotionOverlaySupport, getSCSupport, getTriggerSupport, hasConditions, hasMotionOverlay, hasTrigger, isApplicableFor, setMode, triggerWhen

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

addParameter, addParams, getParams, releaseResources, removeParameter, self

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.commandModel.IAction

releaseResources

Methods inherited from interface com.kuka.roboticsAPI.motionModel.IParameterizable

getParams

Constructor Detail

CIRC

public CIRC(AbstractFrame auxiliaryFrame,
            AbstractFrame destination)

Creates a new CIRC motion.

Parameters:

destination - The destination of the motion.

auxiliaryFrame - The auxiliary frame for the motion.

Method Detail

getAuxiliaryFrame

public AbstractFrame getAuxiliaryFrame()

Gets the auxiliary frame for the CIRC motion.

Returns:

The auxiliary frame for the CIRC motion.

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionCP

Gets the name of the motion.

Specified by:

getMotionName in class SplineMotionCP<CIRC>

Returns:

The name of the motion.

hasCircAngle

public boolean hasCircAngle()

Returns true if the circ angle value in rad is set.

Returns:

true if the circ angle value in rad is set.

setCircAngle

public CIRC setCircAngle(double value)

Sets the circular angle for this motion. This option defines the direction and the overall angle of the executed motion along the defined circular path.

Parameters:

value - Angle in [rad].

Returns:

This motion (builder pattern).

hasOrientationReferenceSystem

public boolean hasOrientationReferenceSystem()

Returns true if the reference system for orientation control is set.

Returns:

true if the reference system for orientation control is set.

setOrientationReferenceSystem

public CIRC setOrientationReferenceSystem(OrientationReferenceSystem value)

Sets this motion's reference system for orientation control.

Parameters:

value - The system reference orientation system type value for this motion. May not be null.

Returns:

This motion (builder pattern).

setAuxPointBehavior

public CIRC setAuxPointBehavior(CircAuxPointBehavior value)

Sets the orientation behavior at the auxiliary point.

Limitations:

• This parameter is not evaluated if this spline segment's orientation type is set to SplineOrientationType.Ignore.
• If the preceding spline segment uses SplineOrientationType.Ignore, this parameter must not be set to CircAuxPointBehavior.Consider.
• If a circ angle is set, this parameter must not be set to CircAuxPointBehavior.Interpolate.

Parameters:

value - The type of the orientation behavior at the auxiliary point. May not be null.

Returns:

This motion (builder pattern).

hasAuxPointBehavior

public boolean hasAuxPointBehavior()

Returns true if the orientation behavior at the auxiliary point is set.

Returns:

This motion (builder pattern).

setEndPointBehavior

public CIRC setEndPointBehavior(CircEndPointBehavior value)

Sets the orientation behavior at the motion's end point.

Limitations:

• This parameter is not evaluated if this spline segment's orientation type is set to SplineOrientationType.Ignore.
• If a circ angle is set and if this spline segment uses SplineOrientationType.Ignore, this parameter must not be set to CircEndPointBehavior.Extrapolate.
• If a circ angle is set and if the preceding spline segment uses SplineOrientationType.Ignore, this parameter must not be set to CircEndPointBehavior.Extrapolate.

Parameters:

value - The type of the orientation behavior at the end point of the motion. May not be null.

Returns:

This motion (builder pattern).

hasEndPointBehavior

public boolean hasEndPointBehavior()

Returns true if the orientation behavior at the end point of the motion is set.

Returns:

This motion (builder pattern).

toString

public String toString()

Description copied from class: AbsoluteSplineMotionCP

Overrides:

toString in class AbsoluteSplineMotionCP<CIRC>

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<CIRC>

Returns:

the type of the spline