com.kuka.roboticsAPI.motionModel
Class CartesianPTP

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.SplineMotionJP<CartesianPTP>
                          com.kuka.roboticsAPI.motionModel.CartesianPTP

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IMotionWithDestinationFrame, IParameterizable

public final class CartesianPTP
extends SplineMotionJP<CartesianPTP>
implements IMotionWithDestinationFrame

A CartesianPTP motion is a spline motion to a given point in cartesian space. The CartesianPTP motion command may be used inside a SplineJP to indicate a Cartesian-PTP "segment". But the command can also be used standalone for a single Cartesian-PTP motion.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

CartesianPTP(AbstractFrame destination)
Creates a new CartesianPTP motion.

Method Summary

AbstractFrame	getDestination() Gets the destination frame for this PTP which has been passed by the constructor.
protected String	getMotionName() Gets the type of the motion.
SplineMotion.SplineType	getType()
String	toString()

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

CartesianPTP

public CartesianPTP(AbstractFrame destination)

Creates a new CartesianPTP motion.

Parameters:

destination - The destination of the motion.

The destination frame can be any frame except for those, which belong to objects attached to the flange of the robot that should perform this motion. In this case IllegalArgumentException will be thrown.

Method Detail

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionJP

Gets the type of the motion.

Specified by:

getMotionName in class SplineMotionJP<CartesianPTP>

Returns:

The type of the motion.

toString

public String toString()

Overrides:

toString in class Object

getDestination

public AbstractFrame getDestination()

Gets the destination frame for this PTP which has been passed by the constructor.

Specified by:

getDestination in interface IMotionWithDestinationFrame

Returns:

The destination frame for this PTP.

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<CartesianPTP>

Returns:

the type of the spline