com.kuka.roboticsAPI.motionModel
Class PTP

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<T>
                  com.kuka.roboticsAPI.motionModel.SplineMotion<T>
                      com.kuka.roboticsAPI.motionModel.SplineMotionJP<PTP>
                          com.kuka.roboticsAPI.motionModel.PTP

All Implemented Interfaces:

IAction, IJointMotion, IJointMotionWithDestination, IKROSMotion, IMotion, IParameterizable

public final class PTP
extends SplineMotionJP<PTP>
implements IJointMotionWithDestination

A PTP motion is a spline motion to a given point in joint space. The PTP motion command may be used inside a SplineJP to indicate a PTP "segment". But the command can be used standalone for a single PTP motion, too.

This element is not in its final state and might change in future versions.

We are currently in the progress of switching to spline based PTPs (PTP). The functionality of PTP will be replaced by PTP's functionality in the near future, the name remains the same (PTP). The PTP class will then be removed.

Nested Class Summary

Nested classes/interfaces inherited from class com.kuka.roboticsAPI.motionModel.SplineMotion

SplineMotion.SplineType

Constructor Summary

PTP(JointPosition destination)
Creates a new JointMotion.

Method Summary

JointPosition	getDestination() Gets the destination of the motion.
protected String	getMotionName() Gets the type of the motion.
SplineMotion.SplineType	getType()
String	toString()

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

formatParameterInfo, getJointJerkRel, getJointJerkRel, getMotions, hasJointJerkRel, hasJointJerkRel, setJointJerkRel, setJointJerkRel, setJointJerkRel

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

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

acquireResources, addMotionOverlay, breakWhen, getConditions, getMode, getMotionOverlaySupport, getSCSupport, getTriggerSupport, hasConditions, hasMotionOverlay, hasTrigger, isApplicableFor, setMode, triggerWhen

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, wait, wait, wait

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

acquireResources, releaseResources

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

getParams

Constructor Detail

PTP

public PTP(JointPosition destination)

Creates a new JointMotion.

Parameters:

destination - The destination. Must not be null.

Method Detail

getDestination

public JointPosition getDestination()

Gets the destination of the motion.

Specified by:

getDestination in interface IJointMotionWithDestination

Returns:

The destination in joint coordinates.

toString

public String toString()

Overrides:

toString in class Object

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionJP

Gets the type of the motion.

Specified by:

getMotionName in class SplineMotionJP<PTP>

Returns:

The type of the motion.

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<PTP>

Returns:

the type of the spline