com.kuka.roboticsAPI.motionModel.velocityControlled
Class VelocityControlledMotion<T extends KROSMotion<T>>

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<T>

Type Parameters:

T - Type of the overriding class

All Implemented Interfaces:

IAction, IKROSMotion, IMotion, IParameterizable

Direct Known Subclasses:

VelocityControlledCartesianMotion, VelocityControlledJointMotion

Deprecated.

@Deprecated
public abstract class VelocityControlledMotion<T extends KROSMotion<T>>
extends KROSMotion<T>

Base class for velocity controller motions.

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

protected	VelocityControlledMotion(CommandDataSource dataSource) Deprecated. Creates a new instance of the class.
protected	VelocityControlledMotion(int cycleRate, int watchDogTolerance, double acceleration, CommandDataSource dataSource) Deprecated. Creates a new instance of the class.

Method Summary

void	acquireResources(Device device) Deprecated. Prepares the action.
int	getCycleRate() Deprecated. Gets the cycle rate (in msec).
CommandDataSource	getDataSource() Deprecated. Gets the datasource for this motion.
int	getWatchdogTolerance() Deprecated. Gets the tolerance of the watchdog (msec).
void	releaseResources(Device device) Deprecated. Called when the instruction which is associated with the action is released.
void	setAcceleration(double acceleration) Deprecated. Sets the acceleration.
void	setCycleRate(int cycleRate) Deprecated. Sets the cycle rate (in msec).
void	setWatchdogTolerance(int watchDogTolerance) Deprecated. Sets the tolerance of the watchdog (msec).

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

VelocityControlledMotion

protected VelocityControlledMotion(CommandDataSource dataSource)

Deprecated.

Creates a new instance of the class.

Watchdog and cycle rate will have default values. Acceleration comes from the robot (if no acceleration is set afterwards).

Parameters:

dataSource - data source for this motion.

VelocityControlledMotion

protected VelocityControlledMotion(int cycleRate,
                                   int watchDogTolerance,
                                   double acceleration,
                                   CommandDataSource dataSource)

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.

dataSource - data source for this motion.

Method Detail

getDataSource

public CommandDataSource 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.

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.

getCycleRate

public int getCycleRate()

Deprecated.

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

Returns:

the cycle rate

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.

setCycleRate

public final void setCycleRate(int cycleRate)

Deprecated.

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

Parameters:

cycleRate - the cycle rate

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.

getWatchdogTolerance

public int getWatchdogTolerance()

Deprecated.

Gets 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.

Returns:

the tolerance of the watchdog.

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.

setWatchdogTolerance

public final void setWatchdogTolerance(int watchDogTolerance)

Deprecated.

Sets 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.

Parameters:

watchDogTolerance - the tolerance of the watchdog

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.

setAcceleration

public final void setAcceleration(double acceleration)

Deprecated.

Sets the acceleration. Must be between 0 and 1.

Parameters:

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.

acquireResources

public void acquireResources(Device device)

Deprecated.

Prepares the action.

An action is part of an instruction, and the prepare method passes the device part of the instruction to the action so that it can determine if the device is appropriate for the action.

Specified by:

acquireResources in interface IAction

Overrides:

acquireResources in class KROSMotion<T extends KROSMotion<T>>

Parameters:

device - The device part of the instruction in which the action is contained.

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.

releaseResources

public void releaseResources(Device device)

Deprecated.

Called when the instruction which is associated with the action is released.

Specified by:

releaseResources in interface IAction

Overrides:

releaseResources in class Action<T extends KROSMotion<T>>

Parameters:

device - The device part of the instruction in which the action is contained.

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.