com.kuka.roboticsAPI.motionModel
Class SplineMotion<T extends RobotMotion<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>

Type Parameters:

T - Type of the overriding class

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

Direct Known Subclasses:

SplineMotionCP, SplineMotionJP

public abstract class SplineMotion<T extends RobotMotion<T>>
extends RobotMotion<T>

Abstract base class for a spline motions in all spaces.

Nested Class Summary

static class

SplineMotion.SplineType Type of the spline.

Constructor Summary

SplineMotion()

Method Summary

protected String	formatParameterInfo() Used to print information about robot motion parameters.
double	getJointJerkRel() Gets the relative jerk value set for this motion in %.
double	getJointJerkRel(com.kuka.roboticsAPI.deviceModel.JointEnum axis) Gets the relative jerk value set for this motion in %.
List<SplineMotion<?>>	getMotions() Gets the spline segments.
abstract SplineMotion.SplineType	getType()
boolean	hasJointJerkRel() Returns true if the relative jerk value is set for this motion in %.
boolean	hasJointJerkRel(com.kuka.roboticsAPI.deviceModel.JointEnum axis) Returns true if the relative jerk value is set for the specified axis in %.
T	setJointJerkRel(double value) Sets the normalized jerk of the motion in %.
T	setJointJerkRel(double[] values) Sets the normalized jerk of the motion in %.
T	setJointJerkRel(com.kuka.roboticsAPI.deviceModel.JointEnum axis, double value) Sets the normalized jerk of the specified axis in %.

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, toString, 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

SplineMotion

public SplineMotion()

Method Detail

getType

public abstract SplineMotion.SplineType getType()

Returns:

the type of the spline

getMotions

public List<SplineMotion<?>> getMotions()

Gets the spline segments.

Returns:

Unmodifiable collection of the segments of the spline.

setJointJerkRel

public final T setJointJerkRel(double value)

Sets the normalized jerk of the motion in %. Must be between 0 and 1.

The specified value is a desired maximal value for the motion, however it is possible that it will not be reached during the execution of the motion because of other motion planning restrictions. The spline planning algorithm does not guarantee that the jerk limitation is not exceeded during the entire course of the motion. Thus, peaks with a greater jerk value can occur.

Parameters:

value - The jerk of the motion. Must be between 0 and 1.

Returns:

This motion (builder pattern).

Throws:

IllegalArgumentException - if jerk is not between 0 and 1.

setJointJerkRel

public final T setJointJerkRel(double[] values)

Sets the normalized jerk of the motion in %. Must be between 0 and 1.

The specified values are desired maximal values for the motion, however it is possible that they will not be reached during the execution of the motion because of other motion planning restrictions. The spline planning algorithm does not guarantee that the jerk limitation is not exceeded during the entire course of the motion. Thus, peaks with a greater jerk value can occur.

Parameters:

values - The jerks of the motion. Must be between 0 and 1 for each axis with a maximum of 12 axes starting with axis 1.

Returns:

This motion (builder pattern).

Throws:

IllegalArgumentException - if jerk is not between 0 and 1.

setJointJerkRel

public final T setJointJerkRel(com.kuka.roboticsAPI.deviceModel.JointEnum axis,
                               double value)

Sets the normalized jerk of the specified axis in %. Must be between 0 and 1.

The specified value is a desired maximal value for the motion, however it is possible that it will not be reached during the execution of the motion because of other motion planning restrictions. The spline planning algorithm does not guarantee that the jerk limitation is not exceeded during the entire course of the motion. Thus, peaks with a greater jerk value can occur.

Parameters:

axis - the axis

value - The jerk of the specified axis in %. Must be between 0 and 1.

Returns:

This motion (builder pattern).

Throws:

IllegalArgumentException - if jerk is not between 0 and 1.

hasJointJerkRel

public boolean hasJointJerkRel()

Returns true if the relative jerk value is set for this motion in %.

Returns:

true if the relative jerk value is set for this motion in %.

hasJointJerkRel

public boolean hasJointJerkRel(com.kuka.roboticsAPI.deviceModel.JointEnum axis)

Returns true if the relative jerk value is set for the specified axis in %.

Parameters:

axis - the axis

Returns:

true if the relative jerk value is set for the specified axis in %.

getJointJerkRel

public final double getJointJerkRel()

Gets the relative jerk value set for this motion in %.

Returns:

the relative jerk value set for this motion in %. Value range is between 0 and 1.

getJointJerkRel

public final double getJointJerkRel(com.kuka.roboticsAPI.deviceModel.JointEnum axis)

Gets the relative jerk value set for this motion in %.

Parameters:

axis - the axis

Returns:

the relative jerk value set for this motion in %. Value range is between 0 and 1.

formatParameterInfo

protected String formatParameterInfo()

Used to print information about robot motion parameters.

Overrides:

formatParameterInfo in class RobotMotion<T extends RobotMotion<T>>

Returns:

info string