com.kuka.roboticsAPI.motionModel
Class RelativeSPL

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<RelativeSPL>
                              com.kuka.roboticsAPI.motionModel.RelativeSPL

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

public final class RelativeSPL
extends RelativeSplineMotionCP<RelativeSPL>

A relative SPL 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

RelativeSPL()
Creates a new relative SPL motion with the given offset.

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

RelativeSPL

public RelativeSPL()

Creates a new relative SPL motion with the given offset.

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

Method Detail

getMotionName

protected String getMotionName()

Gets the name of the motion.

Specified by:

getMotionName in class SplineMotionCP<RelativeSPL>

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<RelativeSPL>

Returns:

the type of the spline