com.kuka.roboticsAPI.motionModel.stopConditions
Class JointStopCondition

java.lang.Object
  com.kuka.roboticsAPI.motionModel.stopConditions.MotionStopCondition
      com.kuka.roboticsAPI.motionModel.stopConditions.JointStopCondition

All Implemented Interfaces:

IStopCondition, ICondition, IMotionStopCondition

public class JointStopCondition
extends MotionStopCondition

Stop condition describing the valid joint ranges for joints of a robot.

This element is not in its final state and might change in future versions.

Constructor Summary

JointStopCondition()
Creates a new instance of the joint stop condition.

JointStopCondition(Robot robot)
Creates a new instance of the joint stop condition for the specified robot.

Method Summary

double	getFeasibleMax() Get a feasible max value for this stop condition.
double	getFeasibleMin() Get a feasible min value for this stop condition.
DoubleRange[]	getRanges() Gets ranges for all joints.
Robot	getRobot() Gets the robot for which the joint condition is created.
JointStopCondition	markAsErrorStopCondition() /** Marks this stop condition as an error stop condition.
JointStopCondition	markAsErrorStopCondition(String errorMessage) Marks this stop condition as an error stop condition.
String	toString()
JointStopCondition	validIfBetween(int jointIndex, double min, double max) Sets a VALID range for a joint with the specified index.
JointStopCondition	validIfGreaterThan(int jointIndex, double min) Sets a VALID range for a joint with the specified index that is greater than the specified value.
JointStopCondition	validIfLessThan(int jointIndex, double max) Sets a VALID range for a joint with the specified index that is less than the specified value.

Methods inherited from class com.kuka.roboticsAPI.motionModel.stopConditions.MotionStopCondition

and, getErrorMessage, invert, or, xor

Methods inherited from class java.lang.Object

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

Constructor Detail

JointStopCondition

public JointStopCondition()

Creates a new instance of the joint stop condition. The robot will be the robot used for the motion.

Note: Is is recommended to use the other constructor with the robot so that the stop condition can allocate the correct ranges size.

This element is not in its final state and might change in future versions.

JointStopCondition

public JointStopCondition(Robot robot)

Creates a new instance of the joint stop condition for the specified robot.

Parameters:

robot - Robot for which the joint condition is created. Null for the robot which performs the motion.

This element is not in its final state and might change in future versions.

Method Detail

markAsErrorStopCondition

public JointStopCondition markAsErrorStopCondition()

/** Marks this stop condition as an error stop condition.

If the motion is stopped due to this stop condition, the assigned container goes to state invalid and will throw an appropriate exception with no error message.

Overrides:

markAsErrorStopCondition in class MotionStopCondition

Returns:

This stop condition.

This element is not in its final state and might change in future versions.

markAsErrorStopCondition

public JointStopCondition markAsErrorStopCondition(String errorMessage)

Marks this stop condition as an error stop condition.

If the motion is stopped due to this stop condition, the assigned container goes to state invalid and will throw an appropriate exception with the specified error message.

Overrides:

markAsErrorStopCondition in class MotionStopCondition

Parameters:

errorMessage - The optional error message which should be inserted by the SunriseController. May be null.

Returns:

This stop condition.

This element is not in its final state and might change in future versions.

getRobot

public Robot getRobot()

Gets the robot for which the joint condition is created.

Returns:

The robot for which the joint condition is created.

This element is not in its final state and might change in future versions.

validIfBetween

public JointStopCondition validIfBetween(int jointIndex,
                                         double min,
                                         double max)

Sets a VALID range for a joint with the specified index.

Parameters:

jointIndex - Index of a joint for which range should be set. Must be >= 0 and < joint count of the robot on which the condition will be applied.

min - Lower border of the range. In rad. If value is less than the feasible min, this value will get clipped.

max - Upper border of the range- In rad. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

This element is not in its final state and might change in future versions.

validIfLessThan

public JointStopCondition validIfLessThan(int jointIndex,
                                          double max)

Sets a VALID range for a joint with the specified index that is less than the specified value. The minimum is NEGATIVE_INFINITY.

Parameters:

jointIndex - Index of a joint for which range should be set. Must be >= 0 and < joint count of the robot on which the condition will be applied.

max - Upper border of the range- In rad. If value is greater than the feasible max, this value will get clipped.

Returns:

This stop condition.

This element is not in its final state and might change in future versions.

validIfGreaterThan

public JointStopCondition validIfGreaterThan(int jointIndex,
                                             double min)

Sets a VALID range for a joint with the specified index that is greater than the specified value. The maximum is POSITIVE_INFINITY.

Parameters:

jointIndex - Index of a joint for which range should be set. Must be >= 0 and < joint count of the robot on which the condition will be applied.

min - Lower border of the range. In rad. If value is less than the feasible min, this value will get clipped.

Returns:

This stop condition.

This element is not in its final state and might change in future versions.

getRanges

public DoubleRange[] getRanges()

Gets ranges for all joints.

Returns:

Ranges for all joints.

This element is not in its final state and might change in future versions.

getFeasibleMax

public final double getFeasibleMax()

Get a feasible max value for this stop condition.

Returns:

A feasible max value for this stop condition.

This element is not in its final state and might change in future versions.

getFeasibleMin

public final double getFeasibleMin()

Get a feasible min value for this stop condition.

Returns:

A feasible min value for this stop condition.

This element is not in its final state and might change in future versions.

toString

public String toString()

Overrides:

toString in class Object

This element is not in its final state and might change in future versions.