com.kuka.roboticsAPI.motionModel.velocityControlled
Class VelocityControlledJointMotion

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<VelocityControlledJointMotion>
                  com.kuka.roboticsAPI.motionModel.velocityControlled.VelocityControlledJointMotion

All Implemented Interfaces:

IAction, IJointMotion, IKROSMotion, IMotion, IParameterizable

Deprecated.

@Deprecated
public class VelocityControlledJointMotion
extends VelocityControlledMotion<VelocityControlledJointMotion>
implements IJointMotion

Velocity controlled joint specific motion. The motion is defined by the velocity values that have to be provided 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

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

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

Method Summary

JointVelocityDataSource

getDataSource() Deprecated. Gets the datasource for this motion.

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.commandModel.IAction

acquireResources, releaseResources

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

getParams

Constructor Detail

VelocityControlledJointMotion

public VelocityControlledJointMotion()

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.

VelocityControlledJointMotion

public VelocityControlledJointMotion(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 JointVelocityDataSource 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<VelocityControlledJointMotion>

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.