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

Type Parameters:

T - Type of the overriding class

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

Direct Known Subclasses:

AbsoluteSplineMotionCP, RelativeSplineMotionCP, Spline

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

Abstract base class for a cartesian spline motion.

Nested Class Summary

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

SplineMotion.SplineType

Constructor Summary

protected

SplineMotionCP() Creates a new spline motion.

Method Summary

double	getCartAcceleration() Gets the absolute acceleration value set for this motion in [mm/sec^2].
double	getCartJerk() Gets the absolute jerk value set for this motion in [mm/sec^3].
double	getCartVelocity() Gets the absolute velocity value set for this motion in [mm/sec].
protected abstract String	getMotionName() Gets the name of the motion.
double	getOrientationAcceleration() Gets the absolute orientation acceleration value set for this motion in [rad/sec^2].
double	getOrientationJerk() Gets the absolute orientation jerk value set for this motion in [rad/sec^3].
SplineOrientationType	getOrientationType() Gets the orientation type value set for this motion.
double	getOrientationVelocity() Gets the absolute orientation velocity value set for this motion in [rad/sec].
boolean	hasCartAcceleration() Returns true if absolute acceleration value is set for this motion.
boolean	hasCartJerk() Returns true if absolute jerk value is set for this motion.
boolean	hasCartVelocity() Returns true if absolute velocity value is set for this motion.
boolean	hasOrientationAcceleration() Returns true if absolute orientation acceleration value is set for this motion.
boolean	hasOrientationJerk() Returns true if absolute orientation jerk value is set for this motion.
boolean	hasOrientationType() Returns true if orientation type value is set for this motion.
boolean	hasOrientationVelocity() Returns true if absolute orientation velocity value is set for this motion.
T	setCartAcceleration(double value) Sets the absolute acceleration value for this motion [mm/sec^2].
T	setCartJerk(double value) Sets the absolute jerk value for this motion [mm/sec^3].
T	setCartVelocity(double value) Sets the absolute velocity value for this motion [mm/sec].
T	setOrientationAcceleration(double value) Sets the absolute orientation acceleration value for this motion [rad/sec^2].
T	setOrientationJerk(double value) Sets the absolute orientation jerk value for this motion [rad/sec^3].
T	setOrientationType(SplineOrientationType orientationType) Sets the orientation type value for this motion.
T	setOrientationVelocity(double value) Sets the absolute orientation velocity value for this motion [rad/sec].

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, 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

SplineMotionCP

protected SplineMotionCP()

Creates a new spline motion.

Method Detail

getCartAcceleration

public double getCartAcceleration()

Gets the absolute acceleration value set for this motion in [mm/sec^2].

Returns:

the absolute acceleration value set for this motion in [mm/sec^2].

setCartAcceleration

public T setCartAcceleration(double value)

Sets the absolute acceleration value for this motion [mm/sec^2].

The specified value is a 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.

Parameters:

value - the absolute acceleration value for this motion [mm/sec^2]. This value must be greater than 0.

Returns:

This motion (builder pattern)

Throws:

IllegalArgumentException - if absolute acceleration value is equal or less than 0.

hasCartAcceleration

public boolean hasCartAcceleration()

Returns true if absolute acceleration value is set for this motion.

Returns:

true if absolute acceleration value is set for this motion.

getCartVelocity

public double getCartVelocity()

Gets the absolute velocity value set for this motion in [mm/sec].

Returns:

the absolute velocity value set for this motion in [mm/sec].

setCartVelocity

public T setCartVelocity(double value)

Sets the absolute velocity value for this motion [mm/sec].

The specified value is a 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.

Parameters:

value - the absolute velocity value for this motion [mm/sec]. This value must be greater than 0.

Returns:

This motion (builder pattern)

Throws:

IllegalArgumentException - if absolute velocity value is equal or less than 0.

hasCartVelocity

public boolean hasCartVelocity()

Returns true if absolute velocity value is set for this motion.

Returns:

true if absolute velocity value is set for this motion.

getCartJerk

public double getCartJerk()

Gets the absolute jerk value set for this motion in [mm/sec^3].

Returns:

the absolute jerk value set for this motion in [mm/sec^3].

setCartJerk

public T setCartJerk(double value)

Sets the absolute jerk value for this motion [mm/sec^3].

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 absolute jerk value for this motion [mm/sec^3]. This value must be greater than 0.

Returns:

This motion (builder pattern)

Throws:

IllegalArgumentException - if absolute jerk value is equal or less than 0.

hasCartJerk

public boolean hasCartJerk()

Returns true if absolute jerk value is set for this motion.

Returns:

true if absolute jerk value is set for this motion.

getOrientationJerk

public double getOrientationJerk()

Gets the absolute orientation jerk value set for this motion in [rad/sec^3].

Returns:

the absolute orientation jerk value set for this motion in rad/sec^3.

setOrientationJerk

public T setOrientationJerk(double value)

Sets the absolute orientation jerk value for this motion [rad/sec^3].

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 absolute orientation jerk value for this motion [rad/sec^3]. This value must be greater than 0.

Returns:

This motion (builder pattern)

Throws:

IllegalArgumentException - if absolute orientation jerk value is equal or less than 0.

hasOrientationJerk

public boolean hasOrientationJerk()

Returns true if absolute orientation jerk value is set for this motion.

Returns:

true if absolute orientation jerk value is set for this motion.

getOrientationAcceleration

public double getOrientationAcceleration()

Gets the absolute orientation acceleration value set for this motion in [rad/sec^2].

Returns:

the absolute orientation acceleration value set for this motion in [rad/sec^2].

setOrientationAcceleration

public T setOrientationAcceleration(double value)

Sets the absolute orientation acceleration value for this motion [rad/sec^2].

The specified value is a 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.

Parameters:

value - the absolute orientation acceleration value for this motion [rad/sec^2]. This value must be greater than 0.

Returns:

This motion (builder pattern)

Throws:

IllegalArgumentException - if absolute orientation acceleration value is equal or less than 0.

hasOrientationAcceleration

public boolean hasOrientationAcceleration()

Returns true if absolute orientation acceleration value is set for this motion.

Returns:

true if absolute orientation acceleration value is set for this motion.

getOrientationVelocity

public double getOrientationVelocity()

Gets the absolute orientation velocity value set for this motion in [rad/sec].

Returns:

the absolute orientation velocity value set for this motion in [rad/sec].

setOrientationVelocity

public T setOrientationVelocity(double value)

Sets the absolute orientation velocity value for this motion [rad/sec].

The specified value is a 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.

Parameters:

value - the absolute orientation velocity value for this motion [rad/sec]. This value must be greater than 0.

Returns:

This motion (builder pattern)

Throws:

IllegalArgumentException - if absolute orientation velocity value is equal or less than 0.

hasOrientationVelocity

public boolean hasOrientationVelocity()

Returns true if absolute orientation velocity value is set for this motion.

Returns:

true if absolute orientation velocity value is set for this motion.

getMotionName

protected abstract String getMotionName()

Gets the name of the motion.

Returns:

The name of the motion.

getOrientationType

public final SplineOrientationType getOrientationType()

Gets the orientation type value set for this motion.

Returns:

the orientation type value set for this motion.

setOrientationType

public T setOrientationType(SplineOrientationType orientationType)

Sets the orientation type value for this motion.

Parameters:

orientationType - The orientation type value for this motion. May not be null.

Returns:

This motion (builder pattern).

hasOrientationType

public final boolean hasOrientationType()

Returns true if orientation type value is set for this motion.

Returns:

true if orientation type value is set for this motion.