com.kuka.roboticsAPI.motionModel.controlModeModel
Class AbstractImpedanceControlMode

java.lang.Object
  com.kuka.roboticsAPI.motionModel.controlModeModel.AbstractMotionControlMode
      com.kuka.roboticsAPI.motionModel.controlModeModel.AbstractImpedanceControlMode

All Implemented Interfaces:

IImpedanceMotionControlMode, IMotionControlMode

Direct Known Subclasses:

CartesianImpedanceControlMode, JointImpedanceControlMode

public abstract class AbstractImpedanceControlMode
extends AbstractMotionControlMode
implements IImpedanceMotionControlMode

Base class for impedance control modes.

See Also:

CartesianImpedanceControlMode, CartesianSineImpedanceControlMode, JointImpedanceControlMode

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.

Constructor Summary

AbstractImpedanceControlMode()

Method Summary

abstract boolean	equals(Object other) Returns true, if all the impedance parameters are equal.
double[]	getMaxJointDeltas() Gets the maximum joint deltas for this strategy.
abstract int	hashCode()
boolean	isDeviceSupported(Device device) Returns true if the control mode explicitly supports the given device.
boolean	needsMeasuredValues(IMotionControlMode oldMode) Determines if the control mode needs to use measure values for the start position of a motion given the former motion control mode.
boolean	noCommandedMeasuredDevianceIntended() Returns true if the mode isn't meant to allow for a noticeable deviance between commanded and measured robot positions.
protected void	setMaxJointDeltas(double... maxJointDeltas) Sets the maximum joint deltas for this mode.
AbstractMotionControlMode	useCommandedValuesForNextMotion() Deprecated. Be careful with this method: The robot may move unexpectedly! At the moment it is not sure if we need this method and will support it in future versions.
AbstractMotionControlMode	useMeasuredValuesForNextMotion() Deprecated. At the moment it is not sure if we need this method and will support it in future versions.

Methods inherited from class com.kuka.roboticsAPI.motionModel.controlModeModel.AbstractMotionControlMode

getMaxJointSpeed, setMaxJointSpeed

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode

getMaxJointSpeed, isRecoverable

Constructor Detail

AbstractImpedanceControlMode

public AbstractImpedanceControlMode()

Method Detail

isDeviceSupported

public boolean isDeviceSupported(Device device)

Description copied from interface: IMotionControlMode

Returns true if the control mode explicitly supports the given device.

Even if this method returns false the control mode may be supported by the device itself.

Specified by:

isDeviceSupported in interface IMotionControlMode

Parameters:

device - a device

Returns:

true if the mode can be set for the device

setMaxJointDeltas

protected void setMaxJointDeltas(double... maxJointDeltas)

Sets the maximum joint deltas for this mode. The motion will stop if the measured and commanded values differ more than the given values.

The given values must fit to the joint count of the robot for which the mode is used.

Parameters:

maxJointDeltas - The maximum joint deltas (values in [rad]).

getMaxJointDeltas

public double[] getMaxJointDeltas()

Gets the maximum joint deltas for this strategy. The motion will stop if the measured and commanded values differ more than the given values.

Specified by:

getMaxJointDeltas in interface IImpedanceMotionControlMode

Returns:

The maximum joint deltas. May be null to indicate default values.

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.

useMeasuredValuesForNextMotion

@Deprecated
public final AbstractMotionControlMode useMeasuredValuesForNextMotion()

Deprecated. At the moment it is not sure if we need this method and will support it in future versions.

Forces this control mode to used measured values for the start position of the next motion.

The control mode will try to use commanded values after the next motion has been executed, unless anything happens after the motion so that measured values are used again.

Returns:

This control mode.

useCommandedValuesForNextMotion

@Deprecated
public final AbstractMotionControlMode useCommandedValuesForNextMotion()

Deprecated. Be careful with this method: The robot may move unexpectedly! At the moment it is not sure if we need this method and will support it in future versions.

This control mode will use commanded values for the start position of the next motion.

Impedance modes will use measured values when their impedance settings have changed. The useCommandedValuesForNextMotion-method can override this behavior so that the next motion will use commanded values.

Be careful with this method: The robot may move unexpectedly!

Returns:

This control mode.

noCommandedMeasuredDevianceIntended

public boolean noCommandedMeasuredDevianceIntended()

Returns true if the mode isn't meant to allow for a noticeable deviance between commanded and measured robot positions. Typically this is true for PositionControlMode and false for impedance control modes.

Specified by:

noCommandedMeasuredDevianceIntended in interface IMotionControlMode

Returns:

true if commanded/measured deviances should not occur, false otherwise

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.

needsMeasuredValues

public boolean needsMeasuredValues(IMotionControlMode oldMode)

Determines if the control mode needs to use measure values for the start position of a motion given the former motion control mode.

Do not call this method directly. This is a framework function.

Specified by:

needsMeasuredValues in interface IMotionControlMode

Parameters:

oldMode - The former control mode which was used in the last motion.

Returns:

True if measured values should be used for the next motion.

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.

hashCode

public abstract int hashCode()

Overrides:

hashCode in class Object

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.

equals

public abstract boolean equals(Object other)

Returns true, if all the impedance parameters are equal.

Overrides:

equals in class Object

Parameters:

other - other control mode to compare

Returns:

true, if all impedance parameters are equal.

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.