com.kuka.roboticsAPI.motionModel
Class Motion<T extends Motion<T>>

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>
      com.kuka.roboticsAPI.motionModel.Motion<T>

Type Parameters:

T - Type of the overriding class

All Implemented Interfaces:

IAction, IMotion, IParameterizable

Direct Known Subclasses:

BrakeTest, KROSMotion

public abstract class Motion<T extends Motion<T>>
extends Action<T>
implements IMotion

This is the base class for motion commands.

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

Motion() Creates a new instance with a default parameter set type.

Method Summary

void	acquireResources(Device device) Prepares the action.
T	setMode(IMotionControlMode mode) Sets the MODE parameter.

Methods inherited from class com.kuka.roboticsAPI.commandModel.Action

addParameter, addParams, getParams, releaseResources, removeParameter, self

Methods inherited from class java.lang.Object

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

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

releaseResources

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

getParams

Constructor Detail

Motion

protected Motion()

Creates a new instance with a default parameter set type.

Method Detail

setMode

public T setMode(IMotionControlMode mode)

Sets the MODE parameter.

Parameters:

mode - The mode parameter. null is not allowed.

Returns:

A copy of this set (builder pattern).

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.

acquireResources

public void acquireResources(Device device)

Prepares the action.

An action is part of an instruction, and the prepare method passes the device part of the instruction to the action so that it can determine if the device is appropriate for the action.

Specified by:

acquireResources in interface IAction

Overrides:

acquireResources in class Action<T extends Motion<T>>

Parameters:

device - The device part of the instruction in which the action is contained.

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.