com.kuka.roboticsAPI.motionModel
Class RelativeCIRC

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.SplineMotionCP<T>
                          com.kuka.roboticsAPI.motionModel.RelativeSplineMotionCP<RelativeCIRC>
                              com.kuka.roboticsAPI.motionModel.RelativeCIRC

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

public final class RelativeCIRC
extends RelativeSplineMotionCP<RelativeCIRC>

A relative CIRC motion.

The destination must be given relative to the auxiliary offset, which is relative to the preceding offset of the whole spline 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.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

RelativeCIRC(ITransformation auxiliaryMatrix)
Creates a new relative CIRC motion with the given offset.

Method Summary

Transformation	getAuxiliaryMatrix() Gets the auxiliary matrix for the CIRC motion.
protected String	getMotionName() Gets the name of the motion.
SplineMotion.SplineType	getType()
boolean	hasBehaviorAuxPoint() Returns true if the BehaviorAuxPoint value is set.
boolean	hasBehaviorTargetPoint() Returns true if the BehaviorTargetPoint value is set.
boolean	hasCircAngle() Returns true if the circ angle value in rad is set.
boolean	hasOrientationReferenceSystem() Returns true if the OriRefSystem value is set.
RelativeCIRC	setBehaviorAuxPoint(CircAuxPointBehavior value) Sets the orientation behavior at the auxiliary point.
RelativeCIRC	setBehaviorTargetPoint(CircEndPointBehavior value) Sets the orientation behavior at the target point.
RelativeCIRC	setCircAngle(double value) Sets the circ angle of this motion.
RelativeCIRC	setOrientationReferenceSystem(OrientationReferenceSystem value) The system reference orientation system type value for this motion.

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

getOffset, getReferenceFrame, setAOffset, setBOffset, setCOffset, setReferenceFrame, setXOffset, setYOffset, setZOffset, toString

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

getCartAcceleration, getCartJerk, getCartVelocity, getOrientationAcceleration, getOrientationJerk, getOrientationType, getOrientationVelocity, hasCartAcceleration, hasCartJerk, hasCartVelocity, hasOrientationAcceleration, hasOrientationJerk, hasOrientationType, hasOrientationVelocity, setCartAcceleration, setCartJerk, setCartVelocity, setOrientationAcceleration, setOrientationJerk, setOrientationType, setOrientationVelocity

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

releaseResources

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

getParams

Constructor Detail

RelativeCIRC

public RelativeCIRC(ITransformation auxiliaryMatrix)

Creates a new relative CIRC motion with the given offset.

Parameters:

auxiliaryMatrix - The matrix for the auxiliary point.

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

Method Detail

getAuxiliaryMatrix

public Transformation getAuxiliaryMatrix()

Gets the auxiliary matrix for the CIRC motion.

Returns:

The auxiliary matrix for the CIRC motion.

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

hasCircAngle

public boolean hasCircAngle()

Returns true if the circ angle value in rad is set.

Returns:

true if the circ angle value in rad is set.

setCircAngle

public RelativeCIRC setCircAngle(double value)

Sets the circ angle of this motion.

Parameters:

value - Value must be greater than 0. Angle in [rad].

Returns:

This motion (builder pattern).

hasOrientationReferenceSystem

public boolean hasOrientationReferenceSystem()

Returns true if the OriRefSystem value is set.

Returns:

true if the relative OriRefSystem value is set

setOrientationReferenceSystem

public RelativeCIRC setOrientationReferenceSystem(OrientationReferenceSystem value)

The system reference orientation system type value for this motion.

Parameters:

value - The system reference orientation system type value for this motion. May not be null.

Returns:

This motion (builder pattern).

setBehaviorAuxPoint

public RelativeCIRC setBehaviorAuxPoint(CircAuxPointBehavior value)

Sets the orientation behavior at the auxiliary point.

Parameters:

value - The type of the orientation behavior at the auxiliary point. May not be null.

Returns:

This motion (builder pattern).

hasBehaviorAuxPoint

public boolean hasBehaviorAuxPoint()

Returns true if the BehaviorAuxPoint value is set.

Returns:

This motion (builder pattern).

setBehaviorTargetPoint

public RelativeCIRC setBehaviorTargetPoint(CircEndPointBehavior value)

Sets the orientation behavior at the target point.

Parameters:

value - The type of the orientation behavior at the target point. May not be null.

Returns:

This motion (builder pattern).

hasBehaviorTargetPoint

public boolean hasBehaviorTargetPoint()

Returns true if the BehaviorTargetPoint value is set.

Returns:

This motion (builder pattern).

getMotionName

protected String getMotionName()

Gets the name of the motion.

Specified by:

getMotionName in class SplineMotionCP<RelativeCIRC>

Returns:

The name of the motion.

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

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<RelativeCIRC>

Returns:

the type of the spline