com.kuka.roboticsAPI.params
Class JointJerkParams

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

All Implemented Interfaces:

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

public class JointJerkParams
extends AbstractMotionAxisParams

Joint jerk in %.

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

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

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

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

JointJerkParams(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

JointJerkParams

public JointJerkParams(double value,
                       boolean setForAll)

Creates a new value instance of this parameter.

Parameters:

value - The relative jerk 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 jerk out of bounds

JointJerkParams

public JointJerkParams(double[] values)

Creates a new value instance of this parameter.

Parameters:

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

Throws:

IllegalArgumentException - when relative jerk out of bounds

JointJerkParams

public JointJerkParams(KeyValuePairsForJoints... valuePairs)

Creates a new value instance of this parameter.

Parameters:

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

Throws:

IllegalArgumentException - when relative jerk out of bounds

JointJerkParams

public JointJerkParams(KeyValuePairsForJoints pair)

Creates a new value instance of this parameter.

Parameters:

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

Throws:

IllegalArgumentException - when relative jerk 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