com.kuka.roboticsAPI.motionModel
Class Spline

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<Spline>
                          com.kuka.roboticsAPI.motionModel.Spline

All Implemented Interfaces:

IAction, IRuntimeDataProvider<SplineRuntimeData>, IKROSMotion, IMotion, IParameterizable

public final class Spline
extends SplineMotionCP<Spline>
implements IRuntimeDataProvider<SplineRuntimeData>

Represents a sequence of motions that represent a single spline motion consisting of one or more spline segments.

Parameterized blending on spline segments is not allowed and will cause a runtime exception.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

Spline()
Creates an instance of the class.

Spline(SplineMotionCP<?>... motions)
Creates an instance of the class.

Method Summary

void	acquireResources(Device device) Prepares the action.
SplineRuntimeData	createRuntimeData() Creates a runtime data object.
protected String	getMotionName() Gets the name of the motion.
List<SplineMotion<?>>	getMotions() Gets the spline segments.
SplineMotion.SplineType	getType()
void	releaseResources(Device device) Called when the instruction which is associated with the action is released.
String	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, 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

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, 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.motionModel.IParameterizable

getParams

Constructor Detail

Spline

public Spline()

Creates an instance of the class. The parameterless constructor always throws an exception, because at least one motion segment must be passed to the constructor.

Spline

public Spline(SplineMotionCP<?>... motions)

Creates an instance of the class.

Parameters:

motions - spline segments.

Method Detail

getMotions

public List<SplineMotion<?>> getMotions()

Gets the spline segments.

Overrides:

getMotions in class SplineMotion<Spline>

Returns:

Unmodifiable collection of the segments of the spline.

toString

public String toString()

Overrides:

toString in class Object

acquireResources

public void acquireResources(Device device)

Description copied from class: KROSMotion

Prepares the action.

An action is part of an instruction, and the prepare method passes the device part of the instruction to the action so that it can determine if the device is appropriate for the action.

Specified by:

acquireResources in interface IAction

Overrides:

acquireResources in class KROSMotion<Spline>

Parameters:

device - The device part of the instruction in which the action is contained.

releaseResources

public void releaseResources(Device device)

Description copied from class: Action

Called when the instruction which is associated with the action is released.

Specified by:

releaseResources in interface IAction

Overrides:

releaseResources in class Action<Spline>

Parameters:

device - The device part of the instruction in which the action is contained.

getMotionName

protected String getMotionName()

Description copied from class: SplineMotionCP

Gets the name of the motion.

Specified by:

getMotionName in class SplineMotionCP<Spline>

Returns:

The name of the motion.

createRuntimeData

public SplineRuntimeData createRuntimeData()

Description copied from interface: IRuntimeDataProvider

Creates a runtime data object.

Specified by:

createRuntimeData in interface IRuntimeDataProvider<SplineRuntimeData>

Returns:

the created runtime data object.

getType

public SplineMotion.SplineType getType()

Specified by:

getType in class SplineMotion<Spline>

Returns:

the type of the spline