com.kuka.roboticsAPI.motionModel.kmp
Class MobilePlatformMotions

java.lang.Object
  com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformMotions

public final class MobilePlatformMotions
extends Object

Static class to create motions for mobile platforms.

Use this class to write motion statements as follows:

platform.move(MobilePlatformMotions.relativeMotion(dx, dy, dTheta));

Method Summary

static MobilePlatformRelativeMotion

relativeMotion(double dx, double dy, double dTheta) Creates a relative motion with specified translational and rotational offsets.

Methods inherited from class java.lang.Object

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

Method Detail

relativeMotion

public static MobilePlatformRelativeMotion relativeMotion(double dx,
                                                          double dy,
                                                          double dTheta)

Creates a relative motion with specified translational and rotational offsets.

Parameters:

dx - offset in x direction (in mm)

dy - offset in y direction (in mm)

dTheta - rotational offset of theta angle (in rad)

Returns:

a relative motion for a mobile platform