com.kuka.roboticsAPI.motionModel.velocityControlled
Class JointVelocityDataSource

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

public final class JointVelocityDataSource
extends CommandDataSource

Data source class for the VelocityControlledJointMotion movements. This class should be used to send velocity data to the controller during an active command.

The data source will throw events when it changes (observable).

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.
protected void	onSetDevice(Device device) For subclasses.
void	reset() Resets this data source.
void	setCommandedVelocities(double... velocities) Sets new commanded velocities for the data source.
void	setCommandedVelocity(int joint, double velocity) Sets the specified velocity for the given joint.
String	toString()

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

cancel, getDevice, isCancel, 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

onSetDevice

protected void onSetDevice(Device device)

For subclasses. Called when the device was set for this data source.

This happens during execution start.

Overrides:

onSetDevice in class CommandDataSource

Parameters:

device - The device that was set for this data source.

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.

The call can only be performed after the command was sent to the controller. Because before that point, the motion does not know the device on which it will run, so no joint count is available. The velocities array has length zero before this point

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)

Sets new commanded velocities for the data source. Values should be between -1 and 1 indicating 0%-100% speed in the given direction.

No checks are performed because of performance reasons.

Parameters:

velocities - The new velocities for all joints. Values should be between -1 and 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.

setCommandedVelocity

public void setCommandedVelocity(int joint,
                                 double velocity)

Sets the specified velocity for the given joint. Value should be between -1 and 1. If other values are used, they are trimmed to 1 (or -1).

Parameters:

joint - The joint to set the velocity

velocity - The velocity to set. Value 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.