com.kuka.roboticsAPI.motionModel
Enum CircAuxPointBehavior

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

All Implemented Interfaces:

Serializable, Comparable<CircAuxPointBehavior>

public enum CircAuxPointBehavior
extends Enum<CircAuxPointBehavior>

Enumeration which defines the orientation behavior at the auxiliary point of a CIRC motion.

Enum Constant Summary

Consider
There are essentially two paths for the transition from the start orientation to the end orientation by means of a rotation: a shorter one and a longer one.

Ignore
The orientation of the motion's auxiliary frame is ignored.

Interpolate
The motion will pass through the given auxiliary frame.

Method Summary

static CircAuxPointBehavior	valueOf(String name) Returns the enum constant of this type with the specified name.
static CircAuxPointBehavior[]	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

Consider

public static final CircAuxPointBehavior Consider

There are essentially two paths for the transition from the start orientation to the end orientation by means of a rotation: a shorter one and a longer one. With Consider, the path that comes closest to the programmed orientation of the auxiliary point will be selected. It is possible that the programmed orientation of the auxiliary point will be adopted at some point along the path. This is not necessarily the case, however.

This is the default behavior.

Ignore

public static final CircAuxPointBehavior Ignore

The orientation of the motion's auxiliary frame is ignored. The transition from the start orientation to the end orientation is carried out over the shortest possible distance.

Interpolate

public static final CircAuxPointBehavior Interpolate

The motion will pass through the given auxiliary frame. This includes the programmed orientation at the frame.

Method Detail

values

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

Returns:

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

valueOf

public static CircAuxPointBehavior 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