com.kuka.roboticsAPI.motionModel
Interface IMotionContainer

All Superinterfaces:

ICommandContainer, IExecutionContainer, com.kuka.common.concurrent.IWaitToken

All Known Implementing Classes:

AbstractMotionContainer, SunriseMotionContainer

public interface IMotionContainer
extends ICommandContainer

Represents the execution state of robot motions.

Method Summary

void	append(IMotion motion) Appends a motion to the executing motions.
void	cancel() Cancels all motions in this container.
IMotion	getCurrentMotion() Returns the motion command that is being currently executed.
IMotion	getLastExecutedMotion() Returns the last executed motion command, if the container is already finished.

Methods inherited from interface com.kuka.roboticsAPI.executionModel.ICommandContainer

getCommand, getState

Methods inherited from interface com.kuka.roboticsAPI.executionModel.IExecutionContainer

await, await, getErrorMessage, getFiredBreakConditionInfo, getRuntimeData, hasError, hasFired, isFinished, validate

Method Detail

getCurrentMotion

IMotion getCurrentMotion()

Returns the motion command that is being currently executed. This is the part of the robot trajectory where the robot is currently moving.

If the motion consists of segments (for example spline command), the currently executed segment of the spline will be returned.

Returns:

the commanded motion that is currently being executed. For spline commands this refers to the currently executing segment.
This is the same object that has been passed when commanding the motion.
If execution is not started yet or has been finished, returns null.

getLastExecutedMotion

IMotion getLastExecutedMotion()

Returns the last executed motion command, if the container is already finished.

If not, the motion that is currently being executed will be returned. This is the part of the robot trajectory where the robot is currently moving.
If the motion consists of segments (for example spline command), the currently executed segment of the spline will be returned.

Returns:

the last executed motion or the commanded motion that is currently being executed. For spline commands this refers to the currently executing segment.
This is the same object that has been passed when commanding the motion.
If execution is not started yet, returns null.
When the container is finished (also because of break condition or error), returns the last executed motion.

append

void append(IMotion motion)

Appends a motion to the executing motions. Can be called as long as the motions are executing. Appended motions can be blended, if applicable.

Parameters:

motion - the motion to be appended

Throws:

UnsupportedOperationException - appending of motions is not supported for this type or this particular combination of motions

IllegalStateException - the execution of the stack has already been finished.

cancel

void cancel()

Cancels all motions in this container.

Specified by:

cancel in interface IExecutionContainer