Uses of Interface
com.kuka.roboticsAPI.motionModel.controlModeModel.IMotionControlMode

Packages that use IMotionControlMode

com.kuka.roboticsAPI.controllerModel.recovery	This package contains classes for the recovery of robots for paused applications.
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.motionModel	Contains classes for describing motions.
com.kuka.roboticsAPI.motionModel.controlModeModel	Contains classes for describing motion control modes.
com.kuka.roboticsAPI.params	This package for type safe robot parameters.

Uses of IMotionControlMode in com.kuka.roboticsAPI.controllerModel.recovery

Methods in com.kuka.roboticsAPI.controllerModel.recovery that return IMotionControlMode

IMotionControlMode

RecoveryInformation.getRecoveryMode() Gets the IMotionControlMode of the last executed motion.

Constructors in com.kuka.roboticsAPI.controllerModel.recovery with parameters of type IMotionControlMode

RecoveryInformation(JointPosition recoveryPosition, IMotionControlMode recoveryMode, PhysicalObject attachedToolObject)
Creates an instance of the class.

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

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

String	SunriseLBR.getPipeName(IMotionControlMode controlMode)
String	ISunriseRobot.getPipeName(IMotionControlMode controlMode) Gets the name of the pipe to be used for motion with the specified control mode.
void	DeviceMappingSnapshot.setMotionControlMode(IMotionControlMode controlMode) Remembers the control mode of last motion.
void	SunriseMotionExecutionContainer.setRecoveryPosAndControlMode(Primitive primitive, JointPosition recoveryPosition, IMotionControlMode mode) Sets the recovery position for the container.

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

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping that return IMotionControlMode

static IMotionControlMode	RobotMapper.getCurrentMotionControlMode(Device currentRobot) Gets the current motion control mode of the given robot.
protected abstract IMotionControlMode	RobotMapper.normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode) Normalizes the control mode that will be mapped.

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

protected void	CommandMapper.checkControlModeValid(IMotionControlMode mode, Robot robot, IKROSMotion motion) Checks that the selected motion control mode is supported by the given robot and that the motion is supported by the motion control mode.
protected static String	RobotMapper.getPipeName(ISunriseRobot robot, IMotionControlMode mode) Gets the name of the pipe for the specified device and controlMode.
protected abstract void	RobotMapper.mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult) Specialized control mode mapping.
protected void	PositionControlModeMapper.mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult)
protected void	JointImpedanceControlModeMapper.mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult)
protected void	CartesianImpedanceControlModeMapper.mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult) Maps a CartesianImpedanceControlMode instance.
protected abstract IMotionControlMode	RobotMapper.normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode) Normalizes the control mode that will be mapped.
protected PositionControlMode	PositionControlModeMapper.normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode)
protected JointImpedanceControlMode	JointImpedanceControlModeMapper.normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode)
protected CartesianImpedanceControlMode	CartesianImpedanceControlModeMapper.normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode) Normalizes a CartesianImpedanceControlMode instance.
DeviceMappingResult	CommandMapper.startDeviceMapping(SunriseMappingToken info, DeviceMappingType mappingType, IMotionControlMode controlMode) Starts the mapping of a device.
SplineMotionSPRBuilder	SplineMotionSPRBuilder.withMode(IMotionControlMode mode)

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

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds that return IMotionControlMode

IMotionControlMode	PipeWithControlMode.getControlMode() Gets the control mode of the pipe.
IMotionControlMode	IPipeWithControlMode.getControlMode() Gets the control mode of the pipe.

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

void	AxisValidatorModule.configure(Robot robot, IMotionControlMode mode, SPR spr, boolean useAxisLimit) Configures the validator module.
void	PipeWithControlMode.setControlMode(IMotionControlMode controlMode) Sets the control mode of the pipe.
void	IPipeWithControlMode.setControlMode(IMotionControlMode controlMode) Sets the control mode of the pipe.

Uses of IMotionControlMode in com.kuka.roboticsAPI.motionModel

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

IMotionControlMode	KROSMotion.getMode() Gets the control mode parameter.
IMotionControlMode	IKROSMotion.getMode() Gets the control mode parameter.
IMotionControlMode	BrakeTest.getMode()

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

boolean	KROSMotion.isApplicableFor(IMotionControlMode newMotionControlMode) Each motion has to determine if it supports the given motion control mode.
boolean	IKROSMotion.isApplicableFor(IMotionControlMode newMotionControlMode) Each motion has to determine if it supports the given motion control mode.
boolean	BrakeTest.isApplicableFor(IMotionControlMode newMotionControlMode)
static PositionHold	BasicMotions.positionHold(IMotionControlMode controlMode, long timeout, TimeUnit timeUnit) Creates a PositionHold motion that will hold the robot at it's current position.
T	Motion.setMode(IMotionControlMode mode) Sets the MODE parameter.
T	KROSMotion.setMode(IMotionControlMode mode) Sets the MODE parameter.

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

PositionHold(IMotionControlMode controlMode, long timeout, TimeUnit timeUnit)
It is recommended to set the controlMode explicitly.

Uses of IMotionControlMode in com.kuka.roboticsAPI.motionModel.controlModeModel

Subinterfaces of IMotionControlMode in com.kuka.roboticsAPI.motionModel.controlModeModel

interface

IImpedanceMotionControlMode Base interface for control modes with impedance settings.

Classes in com.kuka.roboticsAPI.motionModel.controlModeModel that implement IMotionControlMode

class	AbstractImpedanceControlMode Base class for impedance control modes.
class	AbstractMotionControlMode Base class for motion control modes.
class	CartesianImpedanceControlMode This control mode indicates cartesian impedance.
class	CartesianSineImpedanceControlMode This control mode indicates cartesian impedance with a sine function on top of it to apply several sine patterns.
class	JointImpedanceControlMode This control mode indicates joint impedance.
class	PositionControlMode This control mode indicates position control.

Methods in com.kuka.roboticsAPI.motionModel.controlModeModel with parameters of type IMotionControlMode

boolean	PositionControlMode.needsMeasuredValues(IMotionControlMode oldMode)
boolean	IMotionControlMode.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	AbstractImpedanceControlMode.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.

Uses of IMotionControlMode in com.kuka.roboticsAPI.params

Methods in com.kuka.roboticsAPI.params that return IMotionControlMode

IMotionControlMode

RobotParameterSet.getMode() Gets the CONTROL_MODE_PARAM parameter.

Methods in com.kuka.roboticsAPI.params with parameters of type IMotionControlMode

RobotParameterSetBuilder

RobotParameterSetBuilder.setMode(IMotionControlMode mode) Sets the control mode (position or impedance).

Constructors in com.kuka.roboticsAPI.params with parameters of type IMotionControlMode

ControlModeParameter(IMotionControlMode mode)
Creates a new value instance of this parameter.