com.kuka.roboticsAPI.motionModel
Enum CartesianJoggingMode

java.lang.Object
  java.lang.Enum<CartesianJoggingMode>
      com.kuka.roboticsAPI.motionModel.CartesianJoggingMode

All Implemented Interfaces:

Serializable, Comparable<CartesianJoggingMode>

public enum CartesianJoggingMode
extends Enum<CartesianJoggingMode>

The possible cartesian jogging modes.

Enum Constant Summary

BASE
Jogging in the selected base coordinate system.

TOOL
Jogging in tool system without updating the tool coordinate system when changing the orientation.

TOOLDIFF
Jogging in tool system, with updating the tool coordinate system when changing the orientation (allows to move curves).

Method Summary

static CartesianJoggingMode	createFromParameter(int parameter) Creates a new cartesian jogging mode from the specified parameter.
int	getJoggingModeParameter() Gets the jogging mode parameter used by the jogging interpolation SPR.
static CartesianJoggingMode	valueOf(String name) Returns the enum constant of this type with the specified name.
static CartesianJoggingMode[]	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

BASE

public static final CartesianJoggingMode BASE

Jogging in the selected base coordinate system.

TOOLDIFF

public static final CartesianJoggingMode TOOLDIFF

Jogging in tool system, with updating the tool coordinate system when changing the orientation (allows to move curves).

TOOL

public static final CartesianJoggingMode TOOL

Jogging in tool system without updating the tool coordinate system when changing the orientation.

Method Detail

values

public static CartesianJoggingMode[] 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 (CartesianJoggingMode c : CartesianJoggingMode.values())
    System.out.println(c);

Returns:

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

valueOf

public static CartesianJoggingMode 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

getJoggingModeParameter

public int getJoggingModeParameter()

Gets the jogging mode parameter used by the jogging interpolation SPR.

Returns:

jogging mode parameter

createFromParameter

public static CartesianJoggingMode createFromParameter(int parameter)

Creates a new cartesian jogging mode from the specified parameter.

Parameters:

parameter - jogging mode parameter

Returns:

new cartesian jogging mode from the specified parameter