com.kuka.roboticsAPI.motionModel
Interface IKROSMotion

All Superinterfaces:

IAction, IMotion, IParameterizable

All Known Implementing Classes:

AbsoluteSplineMotionCP, BrakeTest, CartesianPTP, CIRC, KROSMotion, LIN, MotionBatch, PositionHold, PTP, PTPHome, RelativeCIRC, RelativeLIN, RelativeSPL, RelativeSplineMotionCP, RobotMotion, SPL, Spline, SplineJP, SplineMotion, SplineMotionCP, SplineMotionJP, VelocityControlledCartesianMotion, VelocityControlledJointMotion, VelocityControlledMotion

public interface IKROSMotion
extends IMotion

Represents a generic motion.

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.

Method Summary

Collection<ICondition>	getConditions() Gets all conditions defined for this motion.
IMotionControlMode	getMode() Gets the control mode parameter.
boolean	hasConditions() Returns true if there are conditions defined for this motion.
boolean	hasMotionOverlay() Returns true if there are motion overlays defined for this motion.
boolean	hasTrigger() Returns true if there are trigger defined for this motion.
boolean	isApplicableFor(IMotionControlMode newMotionControlMode) Each motion has to determine if it supports the given motion control mode.

Methods inherited from interface com.kuka.roboticsAPI.commandModel.IAction

acquireResources, releaseResources

Methods inherited from interface com.kuka.roboticsAPI.motionModel.IParameterizable

getParams

Method Detail

isApplicableFor

boolean isApplicableFor(IMotionControlMode newMotionControlMode)

Each motion has to determine if it supports the given motion control mode. The method is called before the motion is sent to the controller.

Parameters:

newMotionControlMode - The new motion control mode.

Returns:

True if the new mode is supported, false otherwise.

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.

getMode

IMotionControlMode getMode()

Gets the control mode parameter.

Returns:

The control mode parameter.

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.

getConditions

Collection<ICondition> getConditions()

Gets all conditions defined for this motion.

Returns:

Unmodifiable collection containing all conditions defined on this motion. If there are no condition defined - returns empty collection.

hasConditions

boolean hasConditions()

Returns true if there are conditions defined for this motion.

Returns:

true if there are conditions set for this motion.

hasTrigger

boolean hasTrigger()

Returns true if there are trigger defined for this motion.

Returns:

true if there are trigger set for this motion.

hasMotionOverlay

boolean hasMotionOverlay()

Returns true if there are motion overlays defined for this motion.

Returns:

true if there are motion overlays set for this motion.