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See:
Description
| Interface Summary | |
|---|---|
| IErrorHandler | Defines an error handler for asynchronous movements. |
| IJoggingMotion | Interface that indicates the jogging motion (joint or cartesian). |
| IJointMotion | Tag interface to indicate that a motion can only be performed with a robot, because it commands its joints. |
| IJointMotionWithDestination | Interface marking a joint specific motion that has a JointPosition as destination. |
| IKROSMotion | Represents a generic motion. |
| IMotion | Represents a generic motion. |
| IMotionContainer | Represents the execution state of robot motions. |
| IMotionContainerListener | Event listener interface that provides events for the states of motions for a motion container. |
| IMotionOverlay | Marker interface for motion overlays. |
| IMotionWithDestinationFrame | Interface marking a motion that has an AbstractFrame as destination. |
| IMultiSegmentListener | Listener interface for SplineRuntimeData events. |
| IMultiSegmentMotionData | Runtime data interface for motions that consist of multiple segments, e.g. |
| IParameterizable | Represents a type that can be parameterized. |
| Class Summary | |
|---|---|
| AbsoluteSplineMotionCP<T extends SplineMotionCP<T>> | Base class for absolute spline motions. |
| AbstractMotionContainer | Represents the state of a motion execution. |
| BasicMotions | Utility class to execute basic robot motions. |
| BrakeTest | Performs the brake test for an individual brake against a specific torque. |
| BrakeTestRuntimeData | Runtime data for a brake test. |
| CartesianPTP | A CartesianPTP motion is a spline motion to a given point in cartesian space. |
| CIRC | A CIRC motion is a motion along a circular path. |
| CommandDataSource | Base class for data sources which can interact with a command while command will be executed. |
| GravComp | Deprecated. |
| JoggingRuntimeData | Runtime data for cartesian and joint jogging commands. |
| KROSMotion<T extends KROSMotion<T>> | This is the base class for all motion for serial kinematics commands. |
| LIN | A LIN motion is a cartesian linear motion to a given frame. |
| Motion<T extends Motion<T>> | This is the base class for motion commands. |
| MotionBatch | Represents a list of motions that are executed one after another within a single motion sequence. |
| MotionContainerAdapter | Default implementation of the IMotionContainerListener interface. |
| MotionInstruction | An instruction to perform a motion with a specified defaultMotionFrame. |
| PositionHold | Using the PositionHold command will bring the given robots into the mode where it holds it's position with the specified control mode. |
| PTP | A PTP motion is a spline motion to a given point in joint space. |
| PTPHome | Performs a PTP motion to the robot home position. |
| RelativeCIRC | A relative CIRC motion. |
| RelativeLIN | A relative LIN motion. |
| RelativeSPL | A relative SPL motion. |
| RelativeSplineMotionCP<T extends SplineMotionCP<T>> | A relative spline motion in cartesian space. |
| RobotMotion<T extends KROSMotion<T>> | Base class for robot motions with dynamic parameters. |
| SPL | A SPL motion is a cartesian spline motion to a given frame. |
| Spline | Represents a sequence of motions that represent a single spline motion consisting of one or more spline segments. |
| SplineJP | Represents a sequence of PTP-Spline motions that represent a single spline motion consisting of one or more spline segments. |
| SplineMotion<T extends RobotMotion<T>> | Abstract base class for a spline motions in all spaces. |
| SplineMotionCP<T extends SplineMotion<T>> | Abstract base class for a cartesian spline motion. |
| SplineMotionJP<T extends SplineMotion<T>> | Abstract base class for a spline motion in joint space. |
| SplineRuntimeData | Runtime data for a Spline or SplineJP motion. |
| Enum Summary | |
|---|---|
| CircAuxPointBehavior | Enumeration which defines the orientation behavior at the auxiliary point of
a CIRC motion. |
| CircEndPointBehavior | Enumeration which defines the orientation behavior at the end point of a
CIRC motion. |
| ErrorHandlingAction | Error handling actions for asynchronous motions. |
| OrientationReferenceSystem | This enum contains possible values for the reference system that can be used for orientation control of a CIRC motion. |
| RedundancyParam | Values for Redundancy-Types. |
| SplineMotion.SplineType | Type of the spline. |
| SplineOrientationType | Defines the spline orientation type. |
| SplineProfileOptions | Bit flags for the spline profile. |
Contains classes for describing motions.
Without a device, a motion is just a description of what should be done. By using the motion within an instruction, the motion get's connected to a device.
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