com.kuka.roboticsAPI.motionModel
Enum CircEndPointBehavior

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

All Implemented Interfaces:

Serializable, Comparable<CircEndPointBehavior>

public enum CircEndPointBehavior
extends Enum<CircEndPointBehavior>

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

Enum Constant Summary

Extrapolate
The orientation at the end of the CIRC motion is extrapolated from the orientation of the target frame given to the motion: If the circ angle parameter extends the motion, the programmed orientation is reached at the programmed target point.

Interpolate
The orientation at the end of the CIRC motion will be the orientation of the target frame given to the motion.

Method Summary

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

Interpolate

public static final CircEndPointBehavior Interpolate

The orientation at the end of the CIRC motion will be the orientation of the target frame given to the motion. Note that by setting the circ angle with CIRC.setCircAngle(double) the actual end point of the motion can be different from the given target frame.

Extrapolate

public static final CircEndPointBehavior Extrapolate

The orientation at the end of the CIRC motion is extrapolated from the orientation of the target frame given to the motion:

• If the circ angle parameter extends the motion, the programmed orientation is reached at the programmed target point. For the rest of the path (programmed target point -> actual target point) the orientation is continued correspondingly.
• If the circ angle parameter shortens the motion, the programmed orientation is not reached.

Method Detail

values

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

Returns:

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

valueOf

public static CircEndPointBehavior 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