com.kuka.roboticsAPI.motionModel
Class PTPHome

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<PTPHome>
                          com.kuka.roboticsAPI.motionModel.PTPHome

All Implemented Interfaces:

IAction, IJointMotion, IKROSMotion, IMotion, IParameterizable

public final class PTPHome
extends SplineMotionJP<PTPHome>
implements IJointMotion

Performs a PTP motion to the robot home position.

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 PTPHome class will then be removed.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

PTPHome()

Method Summary

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

PTPHome

public PTPHome()

Method Detail

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionJP

Gets the type of the motion.

Specified by:

getMotionName in class SplineMotionJP<PTPHome>

Returns:

The type of the motion.

toString

public String toString()

Overrides:

toString in class Object

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<PTPHome>

Returns:

the type of the spline