com.kuka.roboticsAPI.motionModel
Class SPL

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.AbsoluteSplineMotionCP<SPL>
                              com.kuka.roboticsAPI.motionModel.SPL

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IMotionWithDestinationFrame, IParameterizable

public final class SPL
extends AbsoluteSplineMotionCP<SPL>

A SPL motion is a cartesian spline motion to a given frame. The SPL motion command may be used inside a spline to indicate a SPL segment. But the command can be used standalone for a single SPL motion, too.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

SPL(AbstractFrame destination)
Creates a new SPL motion.

Method Summary

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

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

getDestination, 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

SPL

public SPL(AbstractFrame destination)

Creates a new SPL motion.

Parameters:

destination - The destination of the motion.

The destination frame can any frame with the exception of frames which belong to objects attached to a flange of the robot that should perform this motion. In this case IllegalArgumentException will be thrown.

Method Detail

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionCP

Gets the name of the motion.

Specified by:

getMotionName in class SplineMotionCP<SPL>

Returns:

The name of the motion.

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<SPL>

Returns:

the type of the spline