com.kuka.roboticsAPI.motionModel.velocityControlled
Class VelocityControlledCartesianMotion

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>
      com.kuka.roboticsAPI.motionModel.Motion<T>
          com.kuka.roboticsAPI.motionModel.KROSMotion<T>
              com.kuka.roboticsAPI.motionModel.velocityControlled.VelocityControlledMotion<VelocityControlledCartesianMotion>
                  com.kuka.roboticsAPI.motionModel.velocityControlled.VelocityControlledCartesianMotion

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

Deprecated.

@Deprecated
public class VelocityControlledCartesianMotion
extends VelocityControlledMotion<VelocityControlledCartesianMotion>

Velocity controlled cartesian motion. The motion is defined by the velocity values that have to be provided for all components (XYZABCalpha) in runtime via a DataSource.

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

VelocityControlledCartesianMotion()
Deprecated. Creates a new instance of the class with default values for cycle rate, watchdog tolerance and acceleration.

VelocityControlledCartesianMotion(int cycleRate, int watchDogTolerance, double acceleration)
Deprecated. Creates a new instance of the class.

Method Summary

CartesianVelocityDataSource	getDataSource() Deprecated. Gets the datasource for this motion.
AbstractFrame	getReferenceFrame() Deprecated. Gets the reference frame.
void	setReferenceFrame(AbstractFrame referenceFrame) Deprecated. Sets the reference frame.

Methods inherited from class com.kuka.roboticsAPI.motionModel.velocityControlled.VelocityControlledMotion

acquireResources, getCycleRate, getWatchdogTolerance, releaseResources, setAcceleration, setCycleRate, setWatchdogTolerance

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

addMotionOverlay, breakWhen, getConditions, getMode, getMotionOverlaySupport, getSCSupport, getTriggerSupport, hasConditions, hasMotionOverlay, hasTrigger, isApplicableFor, setMode, triggerWhen

Methods inherited from class com.kuka.roboticsAPI.commandModel.Action

addParameter, addParams, getParams, removeParameter, self

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.motionModel.IParameterizable

getParams

Constructor Detail

VelocityControlledCartesianMotion

public VelocityControlledCartesianMotion()

Deprecated.

Creates a new instance of the class with default values for cycle rate, watchdog tolerance and acceleration.

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.

VelocityControlledCartesianMotion

public VelocityControlledCartesianMotion(int cycleRate,
                                         int watchDogTolerance,
                                         double acceleration)

Deprecated.

Creates a new instance of the class.

Parameters:

cycleRate - the cycle rate (in msec). How often the new velocity value will be sent to the controller..

watchDogTolerance - the tolerance of the watchdog (msec). Tolerance - is how long controller will wait for a velocity value if it is not arrived on time. If this time is elapsed - the command will become invalid.

acceleration - the acceleration. Must be between 0 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.

Method Detail

getDataSource

public CartesianVelocityDataSource getDataSource()

Deprecated.

Gets the datasource for this motion. Data source object is used to provide velocity values during the runtime. It is recommend that you access the data source only after the motion has been started.

Overrides:

getDataSource in class VelocityControlledMotion<VelocityControlledCartesianMotion>

Returns:

The datasource for this motion.

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.

getReferenceFrame

public AbstractFrame getReferenceFrame()

Deprecated.

Gets the reference frame. The given velocities are treated relative to this frame. By default reference frame is the world frame.

Returns:

The reference frame for this motion.

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.

setReferenceFrame

public void setReferenceFrame(AbstractFrame referenceFrame)

Deprecated.

Sets the reference frame. The given velocities are treated relative to this frame. By default reference frame is the base frame of the robot.

Parameters:

referenceFrame - The reference frame for this motion.

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.