com.kuka.roboticsAPI.motionModel.stopConditions
Class MotionStopCondition

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

All Implemented Interfaces:

IStopCondition, ICondition, IMotionStopCondition

Direct Known Subclasses:

ForceStopCondition, JointStopCondition

public abstract class MotionStopCondition
extends Object
implements IMotionStopCondition

Base class for stop conditions.

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

MotionStopCondition()

Method Summary

ICondition	and(ICondition other, ICondition... others) Not supported Feature.
String	getErrorMessage() Gets the error message for this stop condition.
ICondition	invert() Not supported Feature.
MotionStopCondition	markAsErrorStopCondition() /** Marks this stop condition as an error stop condition.
MotionStopCondition	markAsErrorStopCondition(String errorMessage) Marks this stop condition as an error stop condition.
ICondition	or(ICondition other, ICondition... others) Not supported Feature.
ICondition	xor(ICondition condition) Not supported Feature.

Methods inherited from class java.lang.Object

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

Constructor Detail

MotionStopCondition

public MotionStopCondition()

Method Detail

and

public ICondition and(ICondition other,
                      ICondition... others)

Not supported Feature.

Specified by:

and in interface ICondition

Parameters:

other - the condition that will be linked with the calling condition.

others - further optional conditions.

Returns:

the AND relation of the given conditions

or

public ICondition or(ICondition other,
                     ICondition... others)

Not supported Feature.

Specified by:

or in interface ICondition

Parameters:

other - the condition that will be linked with the calling condition.

others - further optional conditions.

Returns:

the disjunction of the given conditions

invert

public ICondition invert()

Not supported Feature.

Specified by:

invert in interface ICondition

Returns:

the negated condition

xor

public ICondition xor(ICondition condition)

Not supported Feature.

Specified by:

xor in interface ICondition

Parameters:

condition - the condition that will be linked with the calling condition.

Returns:

the disjunction of the given conditions

markAsErrorStopCondition

public MotionStopCondition 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.

Parameters:

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

Returns:

This stop condition.

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.

markAsErrorStopCondition

public MotionStopCondition 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.

Returns:

This stop condition.

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.

getErrorMessage

public String getErrorMessage()

Gets the error message for this stop condition.

The message is null if this stop condition does not lead to an error.

Returns:

The error message for this stop condition.

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.