com.kuka.roboticsAPI.motionModel
Class SplineRuntimeData

java.lang.Object
  com.kuka.roboticsAPI.commandModel.AbstractCommandRuntimeData
      com.kuka.roboticsAPI.motionModel.SplineRuntimeData

All Implemented Interfaces:

ICommandRuntimeData, IMultiSegmentMotionData

public class SplineRuntimeData
extends AbstractCommandRuntimeData
implements IMultiSegmentMotionData

Runtime data for a Spline or SplineJP motion.

Contains information about currently executed Spline segment. Throws notifications when this segment changes.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Summary

void	addListener(IMultiSegmentListener listener) Adds listener for segment change events.
SplineMotion<?>	getCurrentSegment() Gets the currently executed motion spline segment.
SplineMotion<?>	getSpline() Gets the associated spline.
void	onCurrentSegmentChanged(int newSegmentId) Should be called by the framework when the current segment id changes.
void	removeListener(IMultiSegmentListener listener) Removes the listener for segment change events.

Methods inherited from class com.kuka.roboticsAPI.commandModel.AbstractCommandRuntimeData

addRuntimeData, getRuntimeData

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

addListener

public void addListener(IMultiSegmentListener listener)

Adds listener for segment change events.

Specified by:

addListener in interface IMultiSegmentMotionData

Parameters:

listener - the listener for segment change events.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

removeListener

public void removeListener(IMultiSegmentListener listener)

Removes the listener for segment change events.

Specified by:

removeListener in interface IMultiSegmentMotionData

Parameters:

listener - listener to remove.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

onCurrentSegmentChanged

public void onCurrentSegmentChanged(int newSegmentId)

Should be called by the framework when the current segment id changes.

Parameters:

newSegmentId - new current segment id

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getCurrentSegment

public SplineMotion<?> getCurrentSegment()

Gets the currently executed motion spline segment.

If spline is finished returns the last executed segment

Specified by:

getCurrentSegment in interface IMultiSegmentMotionData

Returns:

the currently executed motion spline segment. null if current segment is not known.

Throws:

IllegalStateException - if current segment is not known (associated spline is not currently executed and was not executed)

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getSpline

public SplineMotion<?> getSpline()

Gets the associated spline.

Returns:

the associated spline.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.