com.kuka.roboticsAPI.params
Class RobotParameterSet

java.lang.Object
  com.kuka.common.params.AbstractParameterSet
      com.kuka.roboticsAPI.params.RobotParameterSet

All Implemented Interfaces:

com.kuka.common.params.IParameterSet, Iterable<com.kuka.common.params.IParameter<?>>

public final class RobotParameterSet
extends com.kuka.common.params.AbstractParameterSet

Immutable parameter set with user convenience methods for robot parameters.

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.

This element is not in its final state and might change in future versions.

Field Summary

static Class<AccelerationParameter>	ACCELERATION_CART_PARAM Constant describing the parameter for the absolute Cartesian Acceleration of a robot motion.
static Class<JointAccelerationParams>	ACCELERATION_JOINT_PARAM Constant describing the parameter for the relative Acceleration of each joint of the robot motion.
static Class<AccelerationRelParameter>	ACCELERATION_REL_PARAM Constant describing the parameter for the relative acceleration of a robot motion.
static Class<BlendingCartParameter>	BLENDING_CART_PARAM Constant describing the parameter for the absolute Cartesian blending of a robot motion.
static Class<BlendingOriParameter>	BLENDING_ORI_PARAM Constant describing the parameter for the absolute Orientation blending of a robot motion in rad.
static Class<BlendingRelParameter>	BLENDING_REL_PARAM Constant describing the parameter for the relative blending of a robot motion.
static Class<CircAngleParameter>	CIRC_ANGLE_TYPE_PARAM Constant describing the angle of the circ motion.
static Class<CircAuxPointBehaviorParameter>	CIRC_AUX_POINT_BEHAVIOR_PARAM Constant describing the CircAuxPointBehavior parameter.
static Class<CircEndPointBehaviorParameter>	CIRC_END_POINT_BEHAVIOR_PARAM Constant describing the CircEndPointBehavior parameter.
static Class<ControlModeParameter>	CONTROL_MODE_PARAM Constant describing the parameter for the motion control mode.
static Class<CartJerkParameter>	JERK_CART_PARAM Constant describing the parameter for the absolute Cartesian jerk of a robot motion.
static Class<JointJerkParams>	JERK_JOINT_PARAM Constant describing the parameter for the relative jerk of each joint of the robot motion.
static Class<OrientationAccelerationParameter>	ORI_ACCELERATION_PARAM Constant describing the parameter for the absolute Orientation Acceleration of a robot motion.
static Class<OrientationAccelerationRelParameter>	ORI_ACCELERATION_REL_PARAM Constant describing the parameter for the relative Orientation Acceleration of a robot motion.
static Class<OrientationJerkParameter>	ORI_JERK_PARAM Constant describing the parameter for the absolute Orientation jerk of a robot motion.
static Class<OrientationJerkRelParameter>	ORI_JERK_REL_PARAM Constant describing the parameter for the relative Orientation jerk of a robot motion.
static Class<OriRefSystemTypeParameter>	ORI_REFSYSTEM_TYPE_PARAM Constant describing the OriRefSystemTypeParameter for circ motions.
static Class<OrientationVelocityParameter>	ORI_VELOCITY_PARAM Constant describing the parameter for the absolute Orientation velocity of a robot motion.
static Class<OrientationVelocityRelParameter>	ORI_VELOCITY_REL_PARAM Constant describing the parameter for the relative Orientation velocity of a robot motion.
static Class<OrientationTypeParameter>	ORIENTATION_TYPE_PARAM Constant describing the orientation type of a motion (VariableOrientation Constant, Ignore,OriJoint).
static Class<ReversedIpoModeParameter>	REVERSED_IPO_MODE Constant describing the interpolation mode.
static Class<CartVelocityParameter>	VELOCITY_CART_PARAM Constant describing the parameter for the absolute Cartesian Velocity of a robot motion.
static Class<JointVelocityParams>	VELOCITY_JOINT_PARAM Constant describing the parameter for the relative velocity of each joint of the robot motion.
static Class<VelocityRelParameter>	VELOCITY_REL_PARAM Constant describing the parameter for the relative velocity of a robot motion.

Method Summary

static RobotParameterSetBuilder	builder() Returns a builder for a parameter set of this type.
static RobotParameterSetBuilder	builder(com.kuka.common.params.IParameterSet orig) Returns a builder for a parameter set of this type.
protected com.kuka.common.params.IParameterSetBuilder<?>	createBuilder()
double	getBlendingCart() Gets the BLENDING_CART_PARAM parameter for Cartesian motions.
double	getBlendingOri() Gets the BLENDING_ORI_PARAM parameter.
double	getBlendingRel() Gets the BLENDING_REL_PARAM parameter.
double	getCartAcceleration() Gets the ACCELERATION_CART_PARAM parameter.
double	getCartJerk() Gets the JERK_CART_PARAM parameter.
double	getCartVelocity() Gets the VELOCITY_CART_PARAM parameter.
double	getCircAngleType() Gets the CIRC_ANGLE_TYPE_PARAM parameter.
CircAuxPointBehaviorParameter	getCircAuxPointBehavior() Returns the orientation behavior at the auxiliary point of the CIRC motion.
CircEndPointBehaviorParameter	getCircEndPointBehavior() Returns the orientation behavior at the end point of the CIRC motion.
JointAccelerationParams	getJointAcceleration() Gets the ACCELERATION_JOINT_PARAM parameter.
JointJerkParams	getJointJerk() Gets the JERK_JOINT_PARAM parameter.
JointVelocityParams	getJointVelocity() Gets the VELOCITY_JOINT_PARAM parameter.
IMotionControlMode	getMode() Gets the CONTROL_MODE_PARAM parameter.
double	getOrientationAcceleration() Gets the ORI_ACCELERATION_PARAM parameter.
double	getOrientationJerk() Gets the ORI_JERK_PARAM parameter.
OriRefSystemTypeParameter	getOrientationReferenceSystem() Gets the ORI_REFSYSTEM_TYPE_PARAM parameter.
OrientationTypeParameter	getOrientationType() Gets the ORIENTATION_TYPE_PARAM.
double	getOrientationVelocity() Gets the ORI_VELOCITY_PARAM parameter.
boolean	hasAnyJointAcceleration() Returns true if the ACCELERATION_JOINT_PARAM parameter is set.
boolean	hasAnyJointJerk() Returns true if the JERK_JOINT_PARAM parameter is set.
boolean	hasAnyJointVelocity() Returns true if the VELOCITY_JOINT_PARAM parameter is set.
boolean	hasBlendingCart() Returns true if blendingCart value is set.
boolean	hasBlendingOri() Returns true if blendingOri value is set.
boolean	hasBlendingRel() Returns true if blendingRel value is set.
boolean	hasCartAcceleration() Returns true if absolute ACCELERATION_CART_PARAM value is set.
boolean	hasCartJerk() Returns true if the JERK_CART_PARAM parameter is set.
boolean	hasCartVelocity() Returns true if absolute velocity value is set.
boolean	hasCircAngleType() Returns true if the CIRC_ANGLE_TYPE_PARAM parameter is set.
boolean	hasCircAuxPointBehavior() Returns true if the orientation behavior at the auxiliary point is set.
boolean	hasCircEndPointBehavior() Returns true if the orientation behavior at the end point of the motion is set.
boolean	hasOrientationAcceleration() Returns true if the ORI_ACCELERATION_PARAM parameter is set.
boolean	hasOrientationJerk() Returns true if the ORI_JERK_PARAM parameter is set.
boolean	hasOrientationReferenceSystem() Returns true if the ORI_REFSYSTEM_TYPE_PARAM parameter is set.
boolean	hasOrientationType() Returns true if the ORIENTATION_TYPE_PARAM parameter is set.
boolean	hasOrientationVelocity() Returns true if the ORI_VELOCITY_PARAM parameter is set.

Methods inherited from class com.kuka.common.params.AbstractParameterSet

combine, contains, equals, hashCode, isEmpty, iterator, name, optionalParameter, optionalValue, paramCount, requiredParameter, requiredValue, toString

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

ORI_ACCELERATION_REL_PARAM

public static final Class<OrientationAccelerationRelParameter> ORI_ACCELERATION_REL_PARAM

Constant describing the parameter for the relative Orientation Acceleration of a robot motion.

This element is not in its final state and might change in future versions.

ORI_VELOCITY_REL_PARAM

public static final Class<OrientationVelocityRelParameter> ORI_VELOCITY_REL_PARAM

Constant describing the parameter for the relative Orientation velocity of a robot motion.

This element is not in its final state and might change in future versions.

ORI_JERK_REL_PARAM

public static final Class<OrientationJerkRelParameter> ORI_JERK_REL_PARAM

Constant describing the parameter for the relative Orientation jerk of a robot motion.

This element is not in its final state and might change in future versions.

ORI_ACCELERATION_PARAM

public static final Class<OrientationAccelerationParameter> ORI_ACCELERATION_PARAM

Constant describing the parameter for the absolute Orientation Acceleration of a robot motion.

This element is not in its final state and might change in future versions.

ORI_VELOCITY_PARAM

public static final Class<OrientationVelocityParameter> ORI_VELOCITY_PARAM

Constant describing the parameter for the absolute Orientation velocity of a robot motion.

This element is not in its final state and might change in future versions.

ORI_JERK_PARAM

public static final Class<OrientationJerkParameter> ORI_JERK_PARAM

Constant describing the parameter for the absolute Orientation jerk of a robot motion.

This element is not in its final state and might change in future versions.

ACCELERATION_CART_PARAM

public static final Class<AccelerationParameter> ACCELERATION_CART_PARAM

Constant describing the parameter for the absolute Cartesian Acceleration of a robot motion.

This element is not in its final state and might change in future versions.

ACCELERATION_JOINT_PARAM

public static final Class<JointAccelerationParams> ACCELERATION_JOINT_PARAM

Constant describing the parameter for the relative Acceleration of each joint of the robot motion.

This element is not in its final state and might change in future versions.

VELOCITY_JOINT_PARAM

public static final Class<JointVelocityParams> VELOCITY_JOINT_PARAM

Constant describing the parameter for the relative velocity of each joint of the robot motion.

This element is not in its final state and might change in future versions.

VELOCITY_CART_PARAM

public static final Class<CartVelocityParameter> VELOCITY_CART_PARAM

Constant describing the parameter for the absolute Cartesian Velocity of a robot motion.

This element is not in its final state and might change in future versions.

JERK_CART_PARAM

public static final Class<CartJerkParameter> JERK_CART_PARAM

Constant describing the parameter for the absolute Cartesian jerk of a robot motion.

This element is not in its final state and might change in future versions.

JERK_JOINT_PARAM

public static final Class<JointJerkParams> JERK_JOINT_PARAM

Constant describing the parameter for the relative jerk of each joint of the robot motion.

This element is not in its final state and might change in future versions.

VELOCITY_REL_PARAM

public static final Class<VelocityRelParameter> VELOCITY_REL_PARAM

Constant describing the parameter for the relative velocity of a robot motion.

This element is not in its final state and might change in future versions.

ACCELERATION_REL_PARAM

public static final Class<AccelerationRelParameter> ACCELERATION_REL_PARAM

Constant describing the parameter for the relative acceleration of a robot motion.

This element is not in its final state and might change in future versions.

BLENDING_REL_PARAM

public static final Class<BlendingRelParameter> BLENDING_REL_PARAM

Constant describing the parameter for the relative blending of a robot motion.

This element is not in its final state and might change in future versions.

BLENDING_CART_PARAM

public static final Class<BlendingCartParameter> BLENDING_CART_PARAM

Constant describing the parameter for the absolute Cartesian blending of a robot motion.

This element is not in its final state and might change in future versions.

BLENDING_ORI_PARAM

public static final Class<BlendingOriParameter> BLENDING_ORI_PARAM

Constant describing the parameter for the absolute Orientation blending of a robot motion in rad.

This element is not in its final state and might change in future versions.

ORIENTATION_TYPE_PARAM

public static final Class<OrientationTypeParameter> ORIENTATION_TYPE_PARAM

Constant describing the orientation type of a motion (VariableOrientation Constant, Ignore,OriJoint).

This element is not in its final state and might change in future versions.

ORI_REFSYSTEM_TYPE_PARAM

public static final Class<OriRefSystemTypeParameter> ORI_REFSYSTEM_TYPE_PARAM

Constant describing the OriRefSystemTypeParameter for circ motions. (Path, Base)

This element is not in its final state and might change in future versions.

CIRC_AUX_POINT_BEHAVIOR_PARAM

public static final Class<CircAuxPointBehaviorParameter> CIRC_AUX_POINT_BEHAVIOR_PARAM

Constant describing the CircAuxPointBehavior parameter.

This element is not in its final state and might change in future versions.

CIRC_END_POINT_BEHAVIOR_PARAM

public static final Class<CircEndPointBehaviorParameter> CIRC_END_POINT_BEHAVIOR_PARAM

Constant describing the CircEndPointBehavior parameter.

This element is not in its final state and might change in future versions.

CIRC_ANGLE_TYPE_PARAM

public static final Class<CircAngleParameter> CIRC_ANGLE_TYPE_PARAM

Constant describing the angle of the circ motion.

This element is not in its final state and might change in future versions.

CONTROL_MODE_PARAM

public static final Class<ControlModeParameter> CONTROL_MODE_PARAM

Constant describing the parameter for the motion control mode.

This element is not in its final state and might change in future versions.

REVERSED_IPO_MODE

public static final Class<ReversedIpoModeParameter> REVERSED_IPO_MODE

Constant describing the interpolation mode.

This element is not in its final state and might change in future versions.

Method Detail

builder

public static RobotParameterSetBuilder builder()

Returns a builder for a parameter set of this type.

Returns:

a RobotParameterSetBuilder

This element is not in its final state and might change in future versions.

builder

public static RobotParameterSetBuilder builder(com.kuka.common.params.IParameterSet orig)

Returns a builder for a parameter set of this type. The builder is initialized with the values from the given parameter set.

Parameters:

orig - parameter set with initial values for the builder

Returns:

a RobotParameterSetBuilder

This element is not in its final state and might change in future versions.

createBuilder

protected com.kuka.common.params.IParameterSetBuilder<?> createBuilder()

Specified by:

createBuilder in class com.kuka.common.params.AbstractParameterSet

getJointVelocity

public JointVelocityParams getJointVelocity()

Gets the VELOCITY_JOINT_PARAM parameter. Is used for joint specific motion.

Returns:

The VELOCITY_JOINT_PARAM parameter.

This element is not in its final state and might change in future versions.

getCartVelocity

public double getCartVelocity()

Gets the VELOCITY_CART_PARAM parameter. Is used for cart motion.

Returns:

The VELOCITY_CART_PARAM parameter.

This element is not in its final state and might change in future versions.

getJointAcceleration

public JointAccelerationParams getJointAcceleration()

Gets the ACCELERATION_JOINT_PARAM parameter. Is used for joint specific motion.

Returns:

The the ACCELERATION_JOINT_PARAM parameter.

This element is not in its final state and might change in future versions.

getBlendingRel

public double getBlendingRel()

Gets the BLENDING_REL_PARAM parameter.

Returns:

The BLENDING_REL_PARAM parameter.

This element is not in its final state and might change in future versions.

hasBlendingRel

public boolean hasBlendingRel()

Returns true if blendingRel value is set.

Returns:

true if blendingRel value is set.

This element is not in its final state and might change in future versions.

getBlendingCart

public double getBlendingCart()

Gets the BLENDING_CART_PARAM parameter for Cartesian motions.

Returns:

The BLENDING_CART_PARAM parameter.

This element is not in its final state and might change in future versions.

hasBlendingCart

public boolean hasBlendingCart()

Returns true if blendingCart value is set.

Returns:

true if blendingCart value is set.

This element is not in its final state and might change in future versions.

getBlendingOri

public double getBlendingOri()

Gets the BLENDING_ORI_PARAM parameter.

Returns:

The BLENDING_ORI_PARAM parameter.

This element is not in its final state and might change in future versions.

hasBlendingOri

public boolean hasBlendingOri()

Returns true if blendingOri value is set.

Returns:

true if blendingOri value is set.

This element is not in its final state and might change in future versions.

getMode

public IMotionControlMode getMode()

Gets the CONTROL_MODE_PARAM parameter.

Returns:

The CONTROL_MODE_PARAM parameter.

This element is not in its final state and might change in future versions.

hasCartVelocity

public boolean hasCartVelocity()

Returns true if absolute velocity value is set.

Returns:

true if absolute velocity value is set.

This element is not in its final state and might change in future versions.

hasAnyJointVelocity

public boolean hasAnyJointVelocity()

Returns true if the VELOCITY_JOINT_PARAM parameter is set. Is used for joint specific motion

Returns:

true if the VELOCITY_JOINT_PARAM parameter is set

This element is not in its final state and might change in future versions.

getCartAcceleration

public double getCartAcceleration()

Gets the ACCELERATION_CART_PARAM parameter. Is used for cart motion.

Returns:

The ACCELERATION_CART_PARAM parameter.

This element is not in its final state and might change in future versions.

hasCartAcceleration

public boolean hasCartAcceleration()

Returns true if absolute ACCELERATION_CART_PARAM value is set.

Returns:

true if absolute ACCELERATION_CART_PARAM value is set.

This element is not in its final state and might change in future versions.

hasAnyJointAcceleration

public boolean hasAnyJointAcceleration()

Returns true if the ACCELERATION_JOINT_PARAM parameter is set. Is used for joint specific motion

Returns:

true if the ACCELERATION_JOINT_PARAM parameter is set

This element is not in its final state and might change in future versions.

getCartJerk

public double getCartJerk()

Gets the JERK_CART_PARAM parameter.

Returns:

The JERK_CART_PARAM parameter.

This element is not in its final state and might change in future versions.

hasCartJerk

public boolean hasCartJerk()

Returns true if the JERK_CART_PARAM parameter is set.

Returns:

true if the JERK_CART_PARAM parameter is set

This element is not in its final state and might change in future versions.

getJointJerk

public JointJerkParams getJointJerk()

Gets the JERK_JOINT_PARAM parameter.

Returns:

The JERK_JOINT_PARAM parameter.

This element is not in its final state and might change in future versions.

hasAnyJointJerk

public boolean hasAnyJointJerk()

Returns true if the JERK_JOINT_PARAM parameter is set. Is used for joint specific motion

Returns:

true if the JERK_JOINT_PARAM parameter is set

This element is not in its final state and might change in future versions.

getOrientationVelocity

public double getOrientationVelocity()

Gets the ORI_VELOCITY_PARAM parameter.

Returns:

The ORI_VELOCITY_PARAM parameter.

This element is not in its final state and might change in future versions.

hasOrientationVelocity

public boolean hasOrientationVelocity()

Returns true if the ORI_VELOCITY_PARAM parameter is set.

Returns:

true if the ORI_VELOCITY_PARAM parameter is set

This element is not in its final state and might change in future versions.

getOrientationAcceleration

public double getOrientationAcceleration()

Gets the ORI_ACCELERATION_PARAM parameter.

Returns:

The ORI_ACCELERATION_PARAM parameter.

This element is not in its final state and might change in future versions.

hasOrientationAcceleration

public boolean hasOrientationAcceleration()

Returns true if the ORI_ACCELERATION_PARAM parameter is set.

Returns:

true if the ORI_ACCELERATION_PARAM parameter is set

This element is not in its final state and might change in future versions.

getOrientationJerk

public double getOrientationJerk()

Gets the ORI_JERK_PARAM parameter.

Returns:

The ORI_JERK_PARAM parameter.

This element is not in its final state and might change in future versions.

hasOrientationJerk

public boolean hasOrientationJerk()

Returns true if the ORI_JERK_PARAM parameter is set.

Returns:

true if the ORI_JERK_PARAM parameter is set

This element is not in its final state and might change in future versions.

getCircAngleType

public double getCircAngleType()

Gets the CIRC_ANGLE_TYPE_PARAM parameter.

Returns:

The CIRC_ANGLE_TYPE_PARAM parameter.

This element is not in its final state and might change in future versions.

hasCircAngleType

public boolean hasCircAngleType()

Returns true if the CIRC_ANGLE_TYPE_PARAM parameter is set.

Returns:

true if the CIRC_ANGLE_TYPE_PARAM parameter is set

This element is not in its final state and might change in future versions.

getOrientationType

public OrientationTypeParameter getOrientationType()

Gets the ORIENTATION_TYPE_PARAM.

Returns:

the ORIENTATION_TYPE_PARAM

This element is not in its final state and might change in future versions.

hasOrientationType

public boolean hasOrientationType()

Returns true if the ORIENTATION_TYPE_PARAM parameter is set.

Returns:

true if the ORIENTATION_TYPE_PARAM parameter is set

This element is not in its final state and might change in future versions.

getOrientationReferenceSystem

public OriRefSystemTypeParameter getOrientationReferenceSystem()

Gets the ORI_REFSYSTEM_TYPE_PARAM parameter.

Returns:

The ORI_REFSYSTEM_TYPE_PARAM for CIRC-Motions.

This element is not in its final state and might change in future versions.

hasOrientationReferenceSystem

public boolean hasOrientationReferenceSystem()

Returns true if the ORI_REFSYSTEM_TYPE_PARAM parameter is set.

Returns:

true if the ORI_REFSYSTEM_TYPE_PARAM parameter parameter is set

This element is not in its final state and might change in future versions.

getCircAuxPointBehavior

public CircAuxPointBehaviorParameter getCircAuxPointBehavior()

Returns the orientation behavior at the auxiliary point of the CIRC motion.

Returns:

the orientation behavior at the auxiliary point of the CIRC motion

This element is not in its final state and might change in future versions.

hasCircAuxPointBehavior

public boolean hasCircAuxPointBehavior()

Returns true if the orientation behavior at the auxiliary point is set.

Returns:

true if the orientation behavior at the auxiliary point is set

This element is not in its final state and might change in future versions.

getCircEndPointBehavior

public CircEndPointBehaviorParameter getCircEndPointBehavior()

Returns the orientation behavior at the end point of the CIRC motion.

Returns:

the orientation behavior at the end point of the CIRC motion

This element is not in its final state and might change in future versions.

hasCircEndPointBehavior

public boolean hasCircEndPointBehavior()

Returns true if the orientation behavior at the end point of the motion is set.

Returns:

true if the orientation behavior at the end point of the motion is set

This element is not in its final state and might change in future versions.