com.kuka.roboticsAPI.motionModel.controlModeModel
Class AbstractMotionControlMode

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

All Implemented Interfaces:

IMotionControlMode

Direct Known Subclasses:

AbstractImpedanceControlMode, PositionControlMode

public abstract class AbstractMotionControlMode
extends Object
implements IMotionControlMode

Base class for motion control modes.

See Also:

CartesianImpedanceControlMode, CartesianSineImpedanceControlMode, JointImpedanceControlMode

Constructor Summary

protected

AbstractMotionControlMode() For subclasses.

Method Summary

double[]	getMaxJointSpeed() Gets the maximum joint speed of the joints in rad.
void	setMaxJointSpeed(double... maxJointSpeeds) Sets the maximum joint speed for this mode.

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.motionModel.controlModeModel.IMotionControlMode

isDeviceSupported, isRecoverable, needsMeasuredValues, noCommandedMeasuredDevianceIntended

Constructor Detail

AbstractMotionControlMode

protected AbstractMotionControlMode()

For subclasses.

Method Detail

setMaxJointSpeed

public void setMaxJointSpeed(double... maxJointSpeeds)

Sets the maximum joint speed for this mode. The motion will stop if the joint speed exceeds the given values.

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

Parameters:

maxJointSpeeds - The maximum joint speed (values in rad/s).

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.

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

getMaxJointSpeed

public double[] getMaxJointSpeed()

Gets the maximum joint speed of the joints in rad.

Will be null to indicate the default values should be used.

Specified by:

getMaxJointSpeed in interface IMotionControlMode

Returns:

The maximum joint speed of the joints in rad.

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.