com.kuka.roboticsAPI.motionModel.controlModeModel
Interface IMotionControlMode

All Known Subinterfaces:

IImpedanceMotionControlMode

All Known Implementing Classes:

AbstractImpedanceControlMode, AbstractMotionControlMode, CartesianImpedanceControlMode, CartesianSineImpedanceControlMode, JointImpedanceControlMode, PositionControlMode

public interface IMotionControlMode

Base interface for motion 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.

Method Summary

double[]	getMaxJointSpeed() Gets the maximum joint speed of the joints in rad.
boolean	isDeviceSupported(Device device) Returns true if the control mode explicitly supports the given device.
boolean	isRecoverable() States whether the control mode can be used to recover a device or not.
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.

Method Detail

noCommandedMeasuredDevianceIntended

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.

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

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.

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.

getMaxJointSpeed

double[] getMaxJointSpeed()

Gets the maximum joint speed of the joints in rad.

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

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.

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

isDeviceSupported

boolean isDeviceSupported(Device device)

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.

Parameters:

device - a device

Returns:

true if the mode can be set for the device

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.

isRecoverable

boolean isRecoverable()

States whether the control mode can be used to recover a device or not.

Returns:

True if the control mode can be used to recover a device, otherwise false.

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.