com.kuka.roboticsAPI.motionModel
Class MotionInstruction

java.lang.Object
  com.kuka.roboticsAPI.commandModel.AbstractControllerCommand
      com.kuka.roboticsAPI.commandModel.Instruction
          com.kuka.roboticsAPI.motionModel.MotionInstruction

All Implemented Interfaces:

IControllerCommand

public class MotionInstruction
extends Instruction

An instruction to perform a motion with a specified defaultMotionFrame.

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

MotionInstruction(ObjectFrame defaultMotionFrame, IMotion motion)
Creates a new instance of the instruction.

Method Summary

IMotion	getAction() Gets the action for this instruction.
ObjectFrame	getDefaultMotionFrame() Gets the defaultMotionFrame of the moved object.

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

acquireResources, getController, getDevice, getRuntimeData, releaseResources, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

MotionInstruction

public MotionInstruction(ObjectFrame defaultMotionFrame,
                         IMotion motion)

Creates a new instance of the instruction.

Parameters:

motion - The motion that should be performed.

defaultMotionFrame - The defaultMotionFrame.

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 Detail

getAction

public IMotion getAction()

Gets the action for this instruction.

Overrides:

getAction in class Instruction

Returns:

The action for this instruction.

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.

getDefaultMotionFrame

public ObjectFrame getDefaultMotionFrame()

Gets the defaultMotionFrame of the moved object.

Returns:

The defaultMotionFrame of the moved object.

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.