com.kuka.roboticsAPI.motionModel
Class MotionBatch

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

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

public class MotionBatch
extends RobotMotion<MotionBatch>

Represents a list of motions that are executed one after another within a single motion sequence.

Constructor Summary

MotionBatch(RobotMotion<?>... motions)
Creates a new motion batch.

Method Summary

void	acquireResources(Device device) Prepares the action.
Collection<ICondition>	getConditions() Gets all conditions defined for this motion.
protected List<IMotionOverlay>	getMotionOverlaySupport() Gets the motion overlay parameter.
List<RobotMotion<?>>	getMotions() Gets the motions in the batch.
protected List<ICondition>	getSCSupport() Gets the condition parameter.
protected List<com.kuka.common.Pair<ICondition,ITriggerAction>>	getTriggerSupport() Gets the trigger 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.
void	releaseResources(Device device) Called when the instruction which is associated with the action is released.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.motionModel.RobotMotion

formatParameterInfo, getBlendingCart, getBlendingOri, getBlendingRel, getJointAccelerationRel, getJointAccelerationRel, getJointVelocityRel, getJointVelocityRel, hasBlendingCart, hasBlendingOri, hasBlendingRel, hasJointAccelerationRel, hasJointAccelerationRel, hasJointVelocityRel, hasJointVelocityRel, setBlendingCart, setBlendingOri, setBlendingRel, setJointAccelerationRel, setJointAccelerationRel, setJointAccelerationRel, setJointVelocityRel, setJointVelocityRel, setJointVelocityRel

Methods inherited from class com.kuka.roboticsAPI.motionModel.KROSMotion

addMotionOverlay, breakWhen, getMode, hasTrigger, isApplicableFor, setMode, triggerWhen

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

addParameter, addParams, getParams, removeParameter, self

Methods inherited from class java.lang.Object

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

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

getParams

Constructor Detail

MotionBatch

public MotionBatch(RobotMotion<?>... motions)

Creates a new motion batch.

Parameters:

motions - The motions in the batch.

Method Detail

getMotions

public List<RobotMotion<?>> getMotions()

Gets the motions in the batch.

Returns:

Unmodifiable collection of the motions in the batch.

getSCSupport

protected List<ICondition> getSCSupport()

Description copied from class: KROSMotion

Gets the condition parameter.

Overrides:

getSCSupport in class KROSMotion<MotionBatch>

Returns:

the condition parameter

getTriggerSupport

protected List<com.kuka.common.Pair<ICondition,ITriggerAction>> getTriggerSupport()

Description copied from class: KROSMotion

Gets the trigger parameter.

Overrides:

getTriggerSupport in class KROSMotion<MotionBatch>

Returns:

the trigger parameter.

getMotionOverlaySupport

protected List<IMotionOverlay> getMotionOverlaySupport()

Description copied from class: KROSMotion

Gets the motion overlay parameter.

Overrides:

getMotionOverlaySupport in class KROSMotion<MotionBatch>

Returns:

the motion overlay parameter.

getConditions

public Collection<ICondition> getConditions()

Description copied from class: KROSMotion

Gets all conditions defined for this motion.

Specified by:

getConditions in interface IKROSMotion

Overrides:

getConditions in class KROSMotion<MotionBatch>

Returns:

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

hasConditions

public boolean hasConditions()

Returns true if there are conditions defined for this motion.

Specified by:

hasConditions in interface IKROSMotion

Overrides:

hasConditions in class KROSMotion<MotionBatch>

Returns:

true if there are conditions set for this 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.

hasMotionOverlay

public boolean hasMotionOverlay()

Description copied from interface: IKROSMotion

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

Specified by:

hasMotionOverlay in interface IKROSMotion

Overrides:

hasMotionOverlay in class KROSMotion<MotionBatch>

Returns:

true if there are motion overlays set for this motion.

toString

public String toString()

Overrides:

toString in class Object

acquireResources

public void acquireResources(Device device)

Description copied from class: KROSMotion

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 KROSMotion<MotionBatch>

Parameters:

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

releaseResources

public void releaseResources(Device device)

Description copied from class: Action

Called when the instruction which is associated with the action is released.

Specified by:

releaseResources in interface IAction

Overrides:

releaseResources in class Action<MotionBatch>

Parameters:

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