com.kuka.roboticsAPI.motionModel.kmp
Class MobilePlatformVelocityMotion

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>
      com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformMotion<MobilePlatformVelocityMotion>
          com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformVelocityMotion

All Implemented Interfaces:

com.kuka.roboticsAPI.commandModel.IAction, com.kuka.roboticsAPI.commandModel.IRuntimeDataProvider<com.kuka.roboticsAPI.commandModel.ICommandRuntimeData>, com.kuka.roboticsAPI.motionModel.IParameterizable

public final class MobilePlatformVelocityMotion
extends MobilePlatformMotion<MobilePlatformVelocityMotion>
implements com.kuka.roboticsAPI.commandModel.IRuntimeDataProvider<com.kuka.roboticsAPI.commandModel.ICommandRuntimeData>

Action for commanding velocity motion.

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.

Field Summary

static boolean

enableDFELogger Set true to create dfe date recorder log files for the velocity control motions.

Constructor Summary

MobilePlatformVelocityMotion()
Creates a new instance of MobilePlatformCartesianJoggingMotion with no velocities.

MobilePlatformVelocityMotion(double vx, double vy, double vTheta, double override)
Creates a new instance of MobilePlatformCartesianJoggingMotion with the specified initial velocities and override.

MobilePlatformVelocityMotion(MobilePlatformVelocity velocityData, double override)
Creates a new instance of MobilePlatformCartesianJoggingMotion with the specified initial velocities and override.

Method Summary

com.kuka.roboticsAPI.commandModel.ICommandRuntimeData	createRuntimeData()
static MobilePlatformVelocityData	getRuntimeData(com.kuka.roboticsAPI.executionModel.ICommandContainer container) Creates the data source used to jog the platform.
MobilePlatformVelocityMotion	setAsJoggingTypeMotion() Sets the motion type to jogging type motion.

Methods inherited from class com.kuka.roboticsAPI.commandModel.Action

acquireResources, addParameter, addParams, getParams, releaseResources, removeParameter, self

Methods inherited from class java.lang.Object

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

Field Detail

enableDFELogger

public static boolean enableDFELogger

Set true to create dfe date recorder log files for the velocity control 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 Detail

MobilePlatformVelocityMotion

public MobilePlatformVelocityMotion()

Creates a new instance of MobilePlatformCartesianJoggingMotion with no velocities.

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.

MobilePlatformVelocityMotion

public MobilePlatformVelocityMotion(double vx,
                                    double vy,
                                    double vTheta,
                                    double override)

Creates a new instance of MobilePlatformCartesianJoggingMotion with the specified initial velocities and override.

Parameters:

vx - The new X velocity in mm/s.

vy - The new Y velocity in mm/s.

vTheta - The new theta velocity in rad/s.

override - The override.

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.

MobilePlatformVelocityMotion

public MobilePlatformVelocityMotion(MobilePlatformVelocity velocityData,
                                    double override)

Creates a new instance of MobilePlatformCartesianJoggingMotion with the specified initial velocities and override.

Parameters:

velocityData - The velocities.

override - The override.

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.

Method Detail

getRuntimeData

public static MobilePlatformVelocityData getRuntimeData(com.kuka.roboticsAPI.executionModel.ICommandContainer container)

Creates the data source used to jog the platform.

Parameters:

container - the container from which the data source shall be obtained

Returns:

The data source used to jog the platform.

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.

createRuntimeData

public com.kuka.roboticsAPI.commandModel.ICommandRuntimeData createRuntimeData()

Specified by:

createRuntimeData in interface com.kuka.roboticsAPI.commandModel.IRuntimeDataProvider<com.kuka.roboticsAPI.commandModel.ICommandRuntimeData>

setAsJoggingTypeMotion

public MobilePlatformVelocityMotion setAsJoggingTypeMotion()

Sets the motion type to jogging type motion. (Jogging type motions are not disabled during locked state of the device.)

Returns:

this mobile platform velocity motion motion