com.kuka.roboticsAPI.motionModel
Class RelativeSplineMotionCP<T extends SplineMotionCP<T>>

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<T>

Type Parameters:

T - Type of the overriding class

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

Direct Known Subclasses:

RelativeCIRC, RelativeLIN, RelativeSPL

public abstract class RelativeSplineMotionCP<T extends SplineMotionCP<T>>
extends SplineMotionCP<T>

A relative spline motion in cartesian space.

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

protected	RelativeSplineMotionCP() Creates a new relative spline motion with the given offset.
protected	RelativeSplineMotionCP(double x, double y, double z, double aRad, double bRad, double cRad, AbstractFrame referenceFrame) * Creates a new relative spline motion with the given offset, relative to a reference frame.
protected	RelativeSplineMotionCP(ITransformation offset, AbstractFrame referenceFrame) Creates a new relative spline motion with the given offset, relative to a reference frame.

Method Summary

Transformation	getOffset() Gets the offset of the relative spline motion.
AbstractFrame	getReferenceFrame() Gets the reference frame for the motion.
T	setAOffset(double offset) Sets the A offset of the current segment.
T	setBOffset(double offset) Sets the B offset of the current segment.
T	setCOffset(double offset) Sets the C offset of the current segment.
T	setReferenceFrame(AbstractFrame referenceFrame) Sets the reference frame for the relative motion.
T	setXOffset(double offset) Sets the X offset of the current segment.
T	setYOffset(double offset) Sets the Y offset of the current segment.
T	setZOffset(double offset) Sets the Z offset of the current segment.
String	toString()

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

getCartAcceleration, getCartJerk, getCartVelocity, getMotionName, 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, getType, 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

RelativeSplineMotionCP

protected RelativeSplineMotionCP()

Creates a new relative spline motion with the given offset.

RelativeSplineMotionCP

protected RelativeSplineMotionCP(double x,
                                 double y,
                                 double z,
                                 double aRad,
                                 double bRad,
                                 double cRad,
                                 AbstractFrame referenceFrame)

* Creates a new relative spline motion with the given offset, relative to a reference frame.

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]

aRad - Offset value in [rad]

bRad - Offset value in [rad]

cRad - Offset value in [rad]

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

RelativeSplineMotionCP

protected RelativeSplineMotionCP(ITransformation offset,
                                 AbstractFrame referenceFrame)

Creates a new relative spline motion with the given offset, 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.

Method Detail

getOffset

public Transformation getOffset()

Gets the offset of the relative spline motion.

Returns:

The offset with translation in [mm].

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.

toString

public String toString()

Overrides:

toString in class Object

setReferenceFrame

public T setReferenceFrame(AbstractFrame referenceFrame)

Sets the reference frame for the relative motion.

Parameters:

referenceFrame - The reference frame. May be null to indicate that the reference frame is the defaultMotionFrame of the motion.

Returns:

This motion (builder pattern).

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.

getReferenceFrame

public AbstractFrame getReferenceFrame()

Gets the reference frame for the motion.

Returns:

The reference frame for the 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.

setXOffset

public T setXOffset(double offset)

Sets the X offset of the current segment. Value in [mm].

Parameters:

offset - The offset in [mm].

Returns:

Reference to this builder.

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.

setYOffset

public T setYOffset(double offset)

Sets the Y offset of the current segment. Value in [mm].

Parameters:

offset - The offset in [mm].

Returns:

Reference to this builder.

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.

setZOffset

public T setZOffset(double offset)

Sets the Z offset of the current segment. Value in [mm].

Parameters:

offset - The offset in [mm].

Returns:

Reference to this builder.

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.

setAOffset

public T setAOffset(double offset)

Sets the A offset of the current segment. Value in [rad].

Parameters:

offset - The offset in [rad].

Returns:

Reference to this builder.

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.

setBOffset

public T setBOffset(double offset)

Sets the B offset of the current segment. Value in [rad].

Parameters:

offset - The offset in [rad].

Returns:

Reference to this builder.

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.

setCOffset

public T setCOffset(double offset)

Sets the C offset of the current segment. Value in [rad].

Parameters:

offset - The offset in [rad].

Returns:

Reference to this builder.

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.