com.kuka.roboticsAPI.motionModel.kmp
Class MobilePlatformRelativeMotion.MobilePlatformRelativeMotionRuntime

java.lang.Object
  com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformRelativeMotion.MobilePlatformRelativeMotionRuntime

All Implemented Interfaces:

com.kuka.roboticsAPI.commandModel.ICommandRuntimeData

Enclosing class:

MobilePlatformRelativeMotion

public abstract static class MobilePlatformRelativeMotion.MobilePlatformRelativeMotionRuntime
extends Object
implements com.kuka.roboticsAPI.commandModel.ICommandRuntimeData

The runtime data for a relative motion of a mobile platform.

Constructor Summary

MobilePlatformRelativeMotion.MobilePlatformRelativeMotionRuntime(int defaultDof)
Creates a new instance of the runtime data.

Method Summary

abstract MobilePlatformPosition	convertCoveredDistance(double[] distanceToConvert) Converts the values of the internal covered distance to mm (translational) and rad (rotational).
MobilePlatformPosition	getCoveredDistance() Gets the covered distance of the relative motion.
protected double[]	getInternalCoveredDistance() Gets the internal covered distance of the relative motion.

Methods inherited from class java.lang.Object

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

Constructor Detail

MobilePlatformRelativeMotion.MobilePlatformRelativeMotionRuntime

public MobilePlatformRelativeMotion.MobilePlatformRelativeMotionRuntime(int defaultDof)

Creates a new instance of the runtime data.

Parameters:

defaultDof - the number of degrees of freedom

Method Detail

getCoveredDistance

public MobilePlatformPosition getCoveredDistance()

Gets the covered distance of the relative motion.

Returns:

the covered distance (in mm and rad)

convertCoveredDistance

public abstract MobilePlatformPosition convertCoveredDistance(double[] distanceToConvert)

Converts the values of the internal covered distance to mm (translational) and rad (rotational).

Parameters:

distanceToConvert - the internal covered distance to be converted

Returns:

the converted covered distance (in mm and rad)

getInternalCoveredDistance

protected double[] getInternalCoveredDistance()

Gets the internal covered distance of the relative motion.

Please note that the internal values are measured in m and rad.

Returns:

the internal covered distance (in m and rad)