com.kuka.roboticsAPI.motionModel
Enum SplineOrientationType

java.lang.Object
  java.lang.Enum<SplineOrientationType>
      com.kuka.roboticsAPI.motionModel.SplineOrientationType

All Implemented Interfaces:

Serializable, Comparable<SplineOrientationType>

public enum SplineOrientationType
extends Enum<SplineOrientationType>

Defines the spline orientation type.

This element is not in its final state and might change in future versions.

Enum Constant Summary

Constant
Constant orientation.

Ignore
The best possible orientation will be automatically calculated according to the surrounding frames.

OriJoint
The orientation of the TCP changes continuously during the motion.

Variable
Variable orientation.

Method Summary

static SplineOrientationType	valueOf(String name) Returns the enum constant of this type with the specified name.
static SplineOrientationType[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

Ignore

public static final SplineOrientationType Ignore

The best possible orientation will be automatically calculated according to the surrounding frames. This can be used, if the orientation is not important. Careful, this can lead to dangerous motions.

This options only applies to spline segments, not for spline blocks or single spline movements.

Constant

public static final SplineOrientationType Constant

Constant orientation. The orientation of the start point is used and does not change during the entire motion.

Variable

public static final SplineOrientationType Variable

Variable orientation. This is the standard orientation. Orientation changes continuously from programmed start point to destination.

OriJoint

public static final SplineOrientationType OriJoint

The orientation of the TCP changes continuously during the motion. This is done by linear transformation (axis-specific motion) of the wrist axis angles. Use only, if the robot passes through a wrist axis singularity. The orientation of the TCP changes continuously during the motion, but not uniformly. It is thus not suitable if a specific orientation must be maintained exactly, e.g. in the case of laser welding.

Method Detail

values

public static SplineOrientationType[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (SplineOrientationType c : SplineOrientationType.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static SplineOrientationType valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null