com.kuka.roboticsAPI.motionModel
Class CommandDataSource

java.lang.Object
  java.util.Observable
      com.kuka.roboticsAPI.motionModel.CommandDataSource

Direct Known Subclasses:

CartesianVelocityDataSource, JointVelocityDataSource

public abstract class CommandDataSource
extends Observable

Base class for data sources which can interact with a command while command will be executed.

Used by commands which need a continuous data flow with the application during their execution.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Constructor Summary

protected

CommandDataSource() Creates a new data source.

Method Summary

void	cancel() Marks that the source is in cancel state.
Device	getDevice() Gets device associated with this data source.
boolean	isCancel() Gets whether this data source is in cancel state.
protected void	onSetDevice(Device device) For subclasses.
void	reset() Resets this data source.
void	setDevice(Device device) Sets the device associated with this data source.
String	toString()

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Constructor Detail

CommandDataSource

protected CommandDataSource()

Creates a new data source.

Method Detail

reset

public void reset()

Resets this data source.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

isCancel

public boolean isCancel()

Gets whether this data source is in cancel state.

Returns:

True if this data source is in cancel state.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

cancel

public void cancel()

Marks that the source is in cancel state.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

toString

public String toString()

Overrides:

toString in class Object

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

setDevice

public final void setDevice(Device device)

Sets the device associated with this data source.

Parameters:

device - The device associated with this data source.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

onSetDevice

protected void onSetDevice(Device device)

For subclasses. Called when the device was set for this data source.

This happens during execution start.

Parameters:

device - The device that was set for this data source.

getDevice

public Device getDevice()

Gets device associated with this data source.

The device is available after the command was sent to the controller.

Returns:

The device associated with this data source.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.