com.kuka.roboticsAPI.motionModel.controlModeModel
Class PositionControlMode

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

All Implemented Interfaces:

IMotionControlMode

public class PositionControlMode
extends AbstractMotionControlMode

This control mode indicates position control.

The control mode uses measured values for a motion if the last control mode used by a robot was not position control. Otherwise, it uses commanded values.

Constructor Summary

PositionControlMode()
A new instance that can use commanded values as start position for a motion if suitable.

PositionControlMode(boolean force)
A new position control mode instance that can be configured to always use measured values as start position for each motion.

PositionControlMode(PositionControlMode other)
Copy constructor.

Method Summary

boolean	equals(Object obj)
int	hashCode()
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.
String	toString()

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

getMaxJointSpeed, setMaxJointSpeed

Methods inherited from class java.lang.Object

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

Constructor Detail

PositionControlMode

public PositionControlMode()

A new instance that can use commanded values as start position for a motion if suitable.

PositionControlMode

public PositionControlMode(boolean force)

A new position control mode instance that can be configured to always use measured values as start position for each motion.

Parameters:

force - always force measured values

PositionControlMode

public PositionControlMode(PositionControlMode other)

Copy constructor.

Parameters:

other - the original mode

Method Detail

noCommandedMeasuredDevianceIntended

public boolean noCommandedMeasuredDevianceIntended()

Description copied from interface: IMotionControlMode

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

needsMeasuredValues

public boolean needsMeasuredValues(IMotionControlMode oldMode)

Description copied from interface: IMotionControlMode

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.

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.

Parameters:

device - a device

Returns:

true if the mode can be set for the device

toString

public String toString()

Overrides:

toString in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

isRecoverable

public boolean isRecoverable()

Description copied from interface: IMotionControlMode

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.