com.kuka.roboticsAPI.motionModel
Class JoggingRuntimeData

java.lang.Object
  com.kuka.roboticsAPI.motionModel.JoggingRuntimeData

All Implemented Interfaces:

ICommandRuntimeData

public class JoggingRuntimeData
extends Object
implements ICommandRuntimeData

Runtime data for cartesian and joint jogging commands.

Constructor Summary

JoggingRuntimeData()

Method Summary

double[]	getBaseFrameTransformation() Gets the base frame transformation.
com.kuka.roboticsAPI.motionModel.CartesianJoggingMode	getCartesianJoggingMode() Gets the cartesian jogging mode for the motion.
protected SunriseController	getController() Gets the controller for the jogging motion.
SerializableInteger	getFiredStopCondition() Get the fired stop condition of the current jogging motion.
protected Module	getJoggingModule() Gets the module used for the jogging commands.
SPR	getJoggingSPR() Gets the SPR for this jogging command.
boolean	getNoMotionStopCondition() Get the status of the noMotion stop condition.
long	getTimeoutJogging() Get the timeout of the jogging command.
protected SSR	getUpdateVelocitiesSSR() Gets the SSR the is used for updating the velocites.
double[]	getVelocities() Gets the commanded velocities (including the jogging override).
void	initialize(Module jogModule, SunriseController controller) Initializes the runtime data.
boolean	isJoggingFromApplication() Gets if the jogging is commanded from application
void	sendSetVelocitiesRequest() Sends compound request with new velocities to the jogging module set in the initialize method.
protected void	setBaseFrameTransformationInternal(double[] transformationValues) Sets the internal array of the base frame transformation values.
void	setJoggingIsFromApplication(boolean isFromApplication) Sets if the jogging is commanded from application.
protected void	setJoggingModeInternal(com.kuka.roboticsAPI.motionModel.CartesianJoggingMode joggingMode) Sets the internal flag whether the coordinate system of the current tool tcp is used for cartesian jogging.
void	setNoMotionStopCondition(boolean noMotionStopCondition) Set the noMotion stop condition.
void	setTimeoutJogging(long timeout) Set the timeout for the jogging command.
protected void	setVelocitiesInternal(double... velocities) Sets the internal array of commanded velocities.
void	stop() Sends a compound request to the jogging module in order to stop jogging and to end the SPR.

Methods inherited from class java.lang.Object

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

Constructor Detail

JoggingRuntimeData

public JoggingRuntimeData()

Method Detail

getVelocities

public double[] getVelocities()

Gets the commanded velocities (including the jogging override).

Returns:

the commanded velocities (including the jogging override)

getBaseFrameTransformation

public double[] getBaseFrameTransformation()

Gets the base frame transformation.
Remark: Can be null!

Returns:

the base frame transformation

getCartesianJoggingMode

public com.kuka.roboticsAPI.motionModel.CartesianJoggingMode getCartesianJoggingMode()

Gets the cartesian jogging mode for the motion.

Returns:

the cartesian jogging mode for the motion.

setVelocitiesInternal

protected void setVelocitiesInternal(double... velocities)

Sets the internal array of commanded velocities.

Parameters:

velocities - commanded velocities.

setBaseFrameTransformationInternal

protected void setBaseFrameTransformationInternal(double[] transformationValues)

Sets the internal array of the base frame transformation values.

Parameters:

transformationValues - the values of the base frame transformation

setJoggingModeInternal

protected void setJoggingModeInternal(com.kuka.roboticsAPI.motionModel.CartesianJoggingMode joggingMode)

Sets the internal flag whether the coordinate system of the current tool tcp is used for cartesian jogging.

Parameters:

joggingMode - the cartesian jogging mode.

initialize

public void initialize(Module jogModule,
                       SunriseController controller)

Initializes the runtime data.

Parameters:

jogModule - jogging module.

controller - controller which executed the jogging command.

getJoggingSPR

public SPR getJoggingSPR()

Gets the SPR for this jogging command.

Returns:

the SPR for this jogging command

getJoggingModule

protected Module getJoggingModule()

Gets the module used for the jogging commands.

Returns:

the jogging module.

sendSetVelocitiesRequest

public void sendSetVelocitiesRequest()

Sends compound request with new velocities to the jogging module set in the initialize method.

stop

public void stop()

Sends a compound request to the jogging module in order to stop jogging and to end the SPR.

getUpdateVelocitiesSSR

protected SSR getUpdateVelocitiesSSR()

Gets the SSR the is used for updating the velocites.

Returns:

update velocities SSR

getController

protected SunriseController getController()

Gets the controller for the jogging motion.

Returns:

the controller for the jogging motion.

setTimeoutJogging

public void setTimeoutJogging(long timeout)

Set the timeout for the jogging command. If a non-positive value is set, the timeout is disabled (default condition). If the timeout condition is set, the jogging command is set to be from the application.

Parameters:

timeout - timeout in milliseconds [ms].

getTimeoutJogging

public long getTimeoutJogging()

Get the timeout of the jogging command. If equal to -1, the timeout condition is disabled.

Returns:

timeout in milliseconds [ms].

setNoMotionStopCondition

public void setNoMotionStopCondition(boolean noMotionStopCondition)

Set the noMotion stop condition. It stops the Jogging SPR when no motion occurs due to axis limits or singularities.

Parameters:

noMotionStopCondition - true if the noMotion stop condition is active.

getNoMotionStopCondition

public boolean getNoMotionStopCondition()

Get the status of the noMotion stop condition.

Returns:

true if active.

getFiredStopCondition

public SerializableInteger getFiredStopCondition()

Get the fired stop condition of the current jogging motion.

Returns:

fired stop condition.

setJoggingIsFromApplication

public void setJoggingIsFromApplication(boolean isFromApplication)

Sets if the jogging is commanded from application.

Parameters:

isFromApplication - set true if jogging is from the application.

isJoggingFromApplication

public boolean isJoggingFromApplication()

Gets if the jogging is commanded from application. *

Returns:

true, if jogging is from the application.