com.kuka.roboticsAPI.motionModel.kmp
Class MobilePlatformVelocity

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

public class MobilePlatformVelocity
extends Object

Velocity data for mobile platform motions.

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.

Constructor Summary

MobilePlatformVelocity()
Creates a new instance of MobilePlatformVelocityData with zero velocities.

MobilePlatformVelocity(double x, double y, double theta)
Creates a new instance of MobilePlatformVelocityData with the specified velocities.

MobilePlatformVelocity(MobilePlatformVelocity other)
Copy constructor.

Method Summary

int	getDOFCount() Gets the degrees of freedom.
double	getTheta() Gets the rotational velocity (theta).
double[]	getValues() Gets all velocity values (including the additional ones).
protected double[]	getValuesInMeter() Gets all velocity values in meters.
double	getX() Gets the velocity in x-direction.
double	getY() Gets the velocity in y-direction.
void	multiplyOverride(double override) Multiplies the override to the velocities.
void	resetAllValues() Resets all velocity values (including the additional ones) to zero.
void	setTheta(double theta) Sets the rotational velocity (theta).
void	setX(double x) Sets the velocity in x-direction.
void	setY(double y) Sets the velocity in y-direction.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

MobilePlatformVelocity

public MobilePlatformVelocity()

Creates a new instance of MobilePlatformVelocityData with zero velocities.

MobilePlatformVelocity

public MobilePlatformVelocity(double x,
                              double y,
                              double theta)

Creates a new instance of MobilePlatformVelocityData with the specified velocities.

Parameters:

x - velocity in x-direction (in mm/s)

y - velocity in y-direction (in mm/s)

theta - rotational velocity (in rad/s)

MobilePlatformVelocity

public MobilePlatformVelocity(MobilePlatformVelocity other)

Copy constructor.

Parameters:

other - velocity data to copy.

Method Detail

getX

public double getX()

Gets the velocity in x-direction.

Returns:

the velocity in x-direction (in mm/s)

setX

public void setX(double x)

Sets the velocity in x-direction.

Parameters:

x - the velocity in x-direction (in mm/s) to set

getY

public double getY()

Gets the velocity in y-direction.

Returns:

the velocity in y-direction (in mm/s)

setY

public void setY(double y)

Sets the velocity in y-direction.

Parameters:

y - the velocity in y-direction (in mm/s) to set

getTheta

public double getTheta()

Gets the rotational velocity (theta).

Returns:

the rotational velocity (in rad/s)

setTheta

public void setTheta(double theta)

Sets the rotational velocity (theta).

Parameters:

theta - the rotational velocity (in rad/s) to set

multiplyOverride

public void multiplyOverride(double override)

Multiplies the override to the velocities.

Parameters:

override - the override to apply.

resetAllValues

public void resetAllValues()

Resets all velocity values (including the additional ones) to zero.

getValues

public double[] getValues()

Gets all velocity values (including the additional ones).

Returns:

all velocity values (including the additional ones)

getValuesInMeter

protected double[] getValuesInMeter()

Gets all velocity values in meters.

Returns:

all velocity values in meters

getDOFCount

public int getDOFCount()

Gets the degrees of freedom.

Returns:

the degrees of freedom

toString

public String toString()

Overrides:

toString in class Object