Uses of Interface
com.kuka.roboticsAPI.motionModel.IMotion

Packages that use IMotion

com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.mapping	Contains the sunrise specific mapping algorithms, that convert RoboticsAPI objects to a series of SPRs.
com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds	Contains predefined compounds for Sunrise.
com.kuka.roboticsAPI.deviceModel	Contains classes describing the available devices in the RoboticsAPI.
com.kuka.roboticsAPI.executionModel	Contains classes for handling the execution of commands.
com.kuka.roboticsAPI.geometricModel	Contains classes describing geometric relations between objects.
com.kuka.roboticsAPI.motionModel	Contains classes for describing motions.
com.kuka.roboticsAPI.motionModel.velocityControlled	Contains classes for describing velocity controlled motions.

Uses of IMotion in com.kuka.roboticsAPI.controllerModel.sunrise

Methods in com.kuka.roboticsAPI.controllerModel.sunrise that return IMotion

IMotion

FiredConditionInfo.getStoppedMotion()

Methods in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type IMotion

protected SunriseMotionExecutionContainer

SunriseMotionContainer.createExecutionContainerInternal(IMotion motion, boolean isSynchronous)

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type IMotion

FiredConditionInfo(ICondition firedCondition, PositionInformation positionInformation, IMotion stoppedMotion)
Creates a new instance of FiredConditionInfo.

Uses of IMotion in com.kuka.roboticsAPI.controllerModel.sunrise.mapping

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type IMotion

SplineMotionSPRBuilder

SplineMotionSPRBuilder.withMotion(IMotion motion)

Uses of IMotion in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type IMotion

SplineMotionModule(Robot device, SunriseMappingToken info, com.kuka.common.params.ParameterSet commandParams, IMotion motion, AbstractFrame taskFrame)
Creates an instance of this class.

Uses of IMotion in com.kuka.roboticsAPI.deviceModel

Methods in com.kuka.roboticsAPI.deviceModel with parameters of type IMotion

IMotionContainer	Robot.move(IMotion motion) Moves the flange of the robot according to the given motion.
IMotionContainer	Robot.move(IMotion motion, IMotionContainerListener listener) Moves the flange of the robot according to the given motion.
IMotionContainer	Robot.moveAsync(IMotion motion) Moves the flange of the robot according to the given motion.
IMotionContainer	Robot.moveAsync(IMotion motion, IMotionContainerListener listener) Moves the flange of the robot according to the given motion.

Uses of IMotion in com.kuka.roboticsAPI.executionModel

Methods in com.kuka.roboticsAPI.executionModel that return IMotion

IMotion

IFiredConditionInfo.getStoppedMotion() Gets the motion that was executed when the stop condition has fired.

Uses of IMotion in com.kuka.roboticsAPI.geometricModel

Methods in com.kuka.roboticsAPI.geometricModel with parameters of type IMotion

IMotionContainer	PhysicalObject.move(IMotion motion) Moves the defaultMotionFrame of the object according to the given motion.
IMotionContainer	ObjectFrame.move(IMotion motion) Moves this frame according to the given motion.
IMotionContainer	PhysicalObject.move(IMotion motion, IMotionContainerListener listener) Moves the defaultMotionFrame of the object according to the given motion.
IMotionContainer	ObjectFrame.move(IMotion motion, IMotionContainerListener listener) Moves this frame according to the given motion.
IMotionContainer	PhysicalObject.moveAsync(IMotion motion) Moves the defaultMotionFrame of the object according to the given motion.
IMotionContainer	ObjectFrame.moveAsync(IMotion motion) Moves this frame according to the given motion.
IMotionContainer	PhysicalObject.moveAsync(IMotion motion, IMotionContainerListener listener) Moves the defaultMotionFrame of the object according to the given motion.
IMotionContainer	ObjectFrame.moveAsync(IMotion motion, IMotionContainerListener listener) Moves this frame according to the given motion.

Uses of IMotion in com.kuka.roboticsAPI.motionModel

Subinterfaces of IMotion in com.kuka.roboticsAPI.motionModel

interface	IJoggingMotion Interface that indicates the jogging motion (joint or cartesian).
interface	IJointMotion Tag interface to indicate that a motion can only be performed with a robot, because it commands its joints.
interface	IJointMotionWithDestination Interface marking a joint specific motion that has a JointPosition as destination.
interface	IKROSMotion Represents a generic motion.

Classes in com.kuka.roboticsAPI.motionModel that implement IMotion

class	AbsoluteSplineMotionCP<T extends SplineMotionCP<T>> Base class for absolute spline motions.
class	BrakeTest Performs the brake test for an individual brake against a specific torque.
class	CartesianPTP A CartesianPTP motion is a spline motion to a given point in cartesian space.
class	CIRC A CIRC motion is a motion along a circular path.
class	KROSMotion<T extends KROSMotion<T>> This is the base class for all motion for serial kinematics commands.
class	LIN A LIN motion is a cartesian linear motion to a given frame.
class	Motion<T extends Motion<T>> This is the base class for motion commands.
class	MotionBatch Represents a list of motions that are executed one after another within a single motion sequence.
class	PositionHold Using the PositionHold command will bring the given robots into the mode where it holds it's position with the specified control mode.
class	PTP A PTP motion is a spline motion to a given point in joint space.
class	PTPHome Performs a PTP motion to the robot home position.
class	RelativeCIRC A relative CIRC motion.
class	RelativeLIN A relative LIN motion.
class	RelativeSPL A relative SPL motion.
class	RelativeSplineMotionCP<T extends SplineMotionCP<T>> A relative spline motion in cartesian space.
class	RobotMotion<T extends KROSMotion<T>> Base class for robot motions with dynamic parameters.
class	SPL A SPL motion is a cartesian spline motion to a given frame.
class	Spline Represents a sequence of motions that represent a single spline motion consisting of one or more spline segments.
class	SplineJP Represents a sequence of PTP-Spline motions that represent a single spline motion consisting of one or more spline segments.
class	SplineMotion<T extends RobotMotion<T>> Abstract base class for a spline motions in all spaces.
class	SplineMotionCP<T extends SplineMotion<T>> Abstract base class for a cartesian spline motion.
class	SplineMotionJP<T extends SplineMotion<T>> Abstract base class for a spline motion in joint space.

Methods in com.kuka.roboticsAPI.motionModel that return IMotion

IMotion	MotionInstruction.getAction() Gets the action for this instruction.
IMotion	IMotionContainer.getCurrentMotion() Returns the motion command that is being currently executed.
IMotion	AbstractMotionContainer.getCurrentMotion() Returns the motion command that is being currently executed.
IMotion	IMotionContainer.getLastExecutedMotion() Returns the last executed motion command, if the container is already finished.
IMotion	AbstractMotionContainer.getLastExecutedMotion() Returns the last executed motion command, if the container is already finished.

Methods in com.kuka.roboticsAPI.motionModel with parameters of type IMotion

void	AbstractMotionContainer.addTriggerConditionObserver(ConditionObserver obs, IMotion motion) Adds a condition observer for a trigger to the motion container.
void	IMotionContainer.append(IMotion motion) Appends a motion to the executing motions.
void	AbstractMotionContainer.append(IMotion motion) Appends a motion to the executing motions.
protected abstract ICommandContainer	AbstractMotionContainer.createExecutionContainerInternal(IMotion motion, boolean isSynchronous) Inheriting classes should create the specific execution container here.
void	MotionContainerAdapter.motionFinished(IMotion motion)
void	IMotionContainerListener.motionFinished(IMotion motion) Invoked when the specified motion has finished.
void	MotionContainerAdapter.motionStarted(IMotion motion)
void	IMotionContainerListener.motionStarted(IMotion motion) Invoked when the execution of the specified motion was started.

Constructors in com.kuka.roboticsAPI.motionModel with parameters of type IMotion

MotionInstruction(ObjectFrame defaultMotionFrame, IMotion motion)
Creates a new instance of the instruction.

Uses of IMotion in com.kuka.roboticsAPI.motionModel.velocityControlled

Classes in com.kuka.roboticsAPI.motionModel.velocityControlled that implement IMotion

class	VelocityControlledCartesianMotion Deprecated.
class	VelocityControlledJointMotion Deprecated.
class	VelocityControlledMotion<T extends KROSMotion<T>> Deprecated.