com.kuka.roboticsAPI.motionModel
Class RelativeLIN

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<RelativeLIN>
                              com.kuka.roboticsAPI.motionModel.RelativeLIN

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

public final class RelativeLIN
extends RelativeSplineMotionCP<RelativeLIN>

A relative LIN motion. Motion to move the robot relative to its current position in any direction. Per default the robot will move in TCP-Orientation. You can specify a new Frame as reference for this motion, instead of default TCP. Robot will move in the orientation of the new frame.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

RelativeLIN()
Creates a new relative LIN motion.

RelativeLIN(double x, double y, double z)
* Creates a new relative LIN motion with the given offset.

RelativeLIN(double x, double y, double z, AbstractFrame referenceFrame)
* Creates a new relative LIN motion with the given offset.

RelativeLIN(double x, double y, double z, double alphaRad, double betaRad, double gammaRad)
* Creates a new relative LIN motion with the given offset.

RelativeLIN(double x, double y, double z, double alphaRad, double betaRad, double gammaRad, AbstractFrame referenceFrame)
* Creates a new relative LIN motion with the given offset.

RelativeLIN(ITransformation offset)
Creates a new relative LIN motion.

RelativeLIN(ITransformation offset, AbstractFrame referenceFrame)
Creates a new relative LIN motion, relative to a reference frame.

RelativeLIN(Vector offset)
Creates a new relative LIN motion.

RelativeLIN(Vector offset, AbstractFrame referenceFrame)
Creates a new relative LIN motion, relative to a reference frame.

Method Summary

protected String	getMotionName() Gets the name of the motion.
SplineMotion.SplineType	getType()

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

RelativeLIN

public RelativeLIN()

Creates a new relative LIN motion.

RelativeLIN

public RelativeLIN(ITransformation offset)

Creates a new relative LIN motion.

Parameters:

offset - The offset for the motion with translation in [mm].

RelativeLIN

public RelativeLIN(ITransformation offset,
                   AbstractFrame referenceFrame)

Creates a new relative LIN motion, relative to a reference frame.

Parameters:

offset - The offset for the motion with translation in [mm].

referenceFrame - This frame describes the coordinate system in which the transformation will be interpreted.

RelativeLIN

public RelativeLIN(Vector offset)

Creates a new relative LIN motion.

Parameters:

offset - The offset for the motion in [mm].

RelativeLIN

public RelativeLIN(Vector offset,
                   AbstractFrame referenceFrame)

Creates a new relative LIN motion, relative to a reference frame.

Parameters:

offset - The offset for the motion in [mm].

referenceFrame - This frame describes the coordinate system in which the transformation will be interpreted.

RelativeLIN

public RelativeLIN(double x,
                   double y,
                   double z)

* Creates a new relative LIN motion with the given offset.

Parameters:

x - the offset in x direction in [mm]

y - the offset in y direction in [mm]

z - the offset in z direction in [mm]

RelativeLIN

public RelativeLIN(double x,
                   double y,
                   double z,
                   AbstractFrame referenceFrame)

* Creates a new relative LIN motion with the given offset.

Parameters:

x - the offset in x direction in [mm]

y - the offset in y direction in [mm]

z - the offset in z direction in [mm]

referenceFrame - This frame describes the coordinate system in which the transformation will be interpreted.

RelativeLIN

public RelativeLIN(double x,
                   double y,
                   double z,
                   double alphaRad,
                   double betaRad,
                   double gammaRad)

* Creates a new relative LIN motion with the given offset.

Parameters:

x - the offset in x direction in [mm]

y - the offset in y direction in [mm]

z - the offset in z direction in [mm]

alphaRad - Offset value in [rad]

betaRad - Offset value in [rad]

gammaRad - Offset value in [rad]

RelativeLIN

public RelativeLIN(double x,
                   double y,
                   double z,
                   double alphaRad,
                   double betaRad,
                   double gammaRad,
                   AbstractFrame referenceFrame)

* Creates a new relative LIN motion with the given offset.

Parameters:

x - the offset in x direction in [mm]

y - the offset in y direction in [mm]

z - the offset in z direction in [mm]

alphaRad - Offset value in [rad]

betaRad - Offset value in [rad]

gammaRad - Offset value in [rad]

referenceFrame - This frame describes the coordinate system in which the transformation will be interpreted.

Method Detail

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionCP

Gets the name of the motion.

Specified by:

getMotionName in class SplineMotionCP<RelativeLIN>

Returns:

The name of the motion.

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<RelativeLIN>

Returns:

the type of the spline