com.kuka.roboticsAPI.motionModel.velocityControlled
Class CartesianVelocityDataSource

java.lang.Object
  java.util.Observable
      com.kuka.roboticsAPI.motionModel.CommandDataSource
          com.kuka.roboticsAPI.motionModel.velocityControlled.CartesianVelocityDataSource

public class CartesianVelocityDataSource
extends CommandDataSource

Data source class for the VelocityControlledCatesianMotion movements. This class should be used to send cartesian velocity data to controller in real time.

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 Summary

void	getCommandedVelocities(double[] velocities) Copies the current commanded velocities into the given array for all components (XYZABCalpha).
void	reset() Resets this data source.
void	setA(double a) Sets velocity of A component.
void	setB(double b) Sets velocity of B component.
void	setC(double c) Sets velocity of C component.
void	setCommandedVelocities(double... velocities) Copies the given velocities into the commanded velocities array.
void	setEllbow(double ellbow) Sets velocity of the elbow.
void	setX(double x) Sets velocity of X component.
void	setY(double y) Sets velocity of Y component.
void	setZ(double z) Sets velocity of Z component.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.motionModel.CommandDataSource

cancel, getDevice, isCancel, onSetDevice, setDevice

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Method Detail

setX

public void setX(double x)

Sets velocity of X component.

Parameters:

x - velocity of X component.

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.

setY

public void setY(double y)

Sets velocity of Y component.

Parameters:

y - velocity of Y component.

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.

setZ

public void setZ(double z)

Sets velocity of Z component.

Parameters:

z - velocity of Z component.

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.

setA

public void setA(double a)

Sets velocity of A component.

Parameters:

a - velocity of A component.

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.

setB

public void setB(double b)

Sets velocity of B component.

Parameters:

b - velocity of B component.

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.

setC

public void setC(double c)

Sets velocity of C component.

Parameters:

c - velocity of C component.

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.

setEllbow

public void setEllbow(double ellbow)

Sets velocity of the elbow.

Parameters:

ellbow - velocity of the elbow.

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.

getCommandedVelocities

public void getCommandedVelocities(double[] velocities)

Copies the current commanded velocities into the given array for all components (XYZABCalpha).

Parameters:

velocities - The array which will contain the commanded joint 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.

setCommandedVelocities

public void setCommandedVelocities(double... velocities)

Copies the given velocities into the commanded velocities array. Values should be between -1 and 1. If other values are used, they are trimmed to 1 (or -1).

Parameters:

velocities - The new velocities for all components (XYZABCalpha). null is not allowed. Values should be between -1 and 1. If other values are used, they are trimmed to 1 (or -1).

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.

toString

public String toString()

Overrides:

toString in class CommandDataSource

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.

reset

public void reset()

Resets this data source.

Overrides:

reset in class CommandDataSource

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.