com.kuka.roboticsAPI.params
Class JointAccelerationParams

java.lang.Object
  com.kuka.roboticsAPI.params.AbstractMotionAxisParams
      com.kuka.roboticsAPI.params.JointAccelerationParams

All Implemented Interfaces:

com.kuka.common.params.IParameter<AbstractMotionAxisParams>

public class JointAccelerationParams
extends AbstractMotionAxisParams

Joint acceleration in %. Must be greater than 0 and smaller or equal 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.

Constructor Summary

JointAccelerationParams(double[] values)
Creates a new value instance of this parameter.

JointAccelerationParams(double value, boolean setForAll)
Creates a new value instance of this parameter.

JointAccelerationParams(KeyValuePairsForJoints... valuePairs)
Creates a new value instance of this parameter.

JointAccelerationParams(KeyValuePairsForJoints pair)
Creates a new value instance of this parameter.

Method Summary

protected void

checkValue(double value) Checks whether a value is valid.

Methods inherited from class com.kuka.roboticsAPI.params.AbstractMotionAxisParams

getAxisValue, getAxisValue, getPossibleDefaultValue, isAxisValueSet, isAxisValueSet, isPossibleDefaultValueSet, setAxisValue, setAxisValue, setPossibleDefaultValue, unSetAxisValueForAxis, value

Methods inherited from class java.lang.Object

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

Constructor Detail

JointAccelerationParams

public JointAccelerationParams(double value,
                               boolean setForAll)

Creates a new value instance of this parameter.

Parameters:

value - The relative acceleration for the axes. The value must be greater than 0 and smaller or equal 1.

setForAll - when false, the value will be set as default, when true, the value will be additionally set for all axes.

Throws:

IllegalArgumentException - when relative acceleration out of bounds

JointAccelerationParams

public JointAccelerationParams(double[] values)

Creates a new value instance of this parameter.

Parameters:

values - The relative accelerations for the axes. The values must be greater than 0 and smaller or equal 1.

Throws:

IllegalArgumentException - when relative acceleration out of bounds

JointAccelerationParams

public JointAccelerationParams(KeyValuePairsForJoints... valuePairs)

Creates a new value instance of this parameter.

Parameters:

valuePairs - Pairs AxisEnum -> relative accelerations for the axes. The values must be greater than 0 and smaller or equal 1.

Throws:

IllegalArgumentException - when relative acceleration out of bounds

JointAccelerationParams

public JointAccelerationParams(KeyValuePairsForJoints pair)

Creates a new value instance of this parameter.

Parameters:

pair - The pair AxisEnum -> relative acceleration for the axis. The relative acceleration must be greater than 0 and smaller or equal 1.

Throws:

IllegalArgumentException - when relative acceleration out of bounds

Method Detail

checkValue

protected void checkValue(double value)

Description copied from class: AbstractMotionAxisParams

Checks whether a value is valid.

Overrides:

checkValue in class AbstractMotionAxisParams

Parameters:

value - value to check