com.kuka.roboticsAPI.persistenceModel
Class ApplicationTool

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.SpatialObject
              com.kuka.roboticsAPI.geometricModel.PhysicalObject
                  com.kuka.roboticsAPI.persistenceModel.ApplicationTool

All Implemented Interfaces:

com.kuka.common.ITaggable

Deprecated. please use templates

@Deprecated
public class ApplicationTool
extends PhysicalObject

Physical object that can load its tool data from a ToolData object.

The tool has a fixed defaultMotionFrame whose base center transformation comes from the specified tool data object.

Constructor Summary

ApplicationTool(RoboticsAPIContext context, String name)
Deprecated. Creates a new tool that gets its data from the named toolData object.

ApplicationTool(RoboticsAPIContext context, ToolData data)
Deprecated. Creates a new tool that gets its data from the given toolData object.

Method Summary

ObjectFrame	getDefaultMotionFrame() Deprecated. Gets the current defaultMotionFrame.
ObjectFrame	getFrame(String name) Deprecated. Gets a persistent frame with the given name.
String	getName() Deprecated. Gets the name of this object.
void	setLoadData(ToolData data) Deprecated. Sets the load and tool data for the tool.

Methods inherited from class com.kuka.roboticsAPI.geometricModel.PhysicalObject

addDefaultMotionFrame, getLoadData, move, move, moveAsync, moveAsync, setDefaultMotionFrame

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SpatialObject

attachTo, attachTo, changeParent, detach, setName, switchParent, switchParent

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setRootFrame, setUserParameter, toString, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Constructor Detail

ApplicationTool

public ApplicationTool(RoboticsAPIContext context,
                       ToolData data)

Deprecated.

Creates a new tool that gets its data from the given toolData object.

Parameters:

context - The context.

data - The tool data.

ApplicationTool

public ApplicationTool(RoboticsAPIContext context,
                       String name)

Deprecated.

Creates a new tool that gets its data from the named toolData object.

Parameters:

context - The context.

name - The name of the tool. The tool data will be loaded from the application data source and used for this tool.

Method Detail

getDefaultMotionFrame

public ObjectFrame getDefaultMotionFrame()

Deprecated.

Description copied from class: PhysicalObject

Gets the current defaultMotionFrame.

Overrides:

getDefaultMotionFrame in class PhysicalObject

Returns:

the current defaultMotionFrame

getName

public String getName()

Deprecated.

Description copied from class: SceneGraphObject

Gets the name of this object.

Overrides:

getName in class SceneGraphObject

Returns:

the object name.

setLoadData

public final void setLoadData(ToolData data)

Deprecated.

Sets the load and tool data for the tool.

Parameters:

data - The data object. null is not allowed.

getFrame

public final ObjectFrame getFrame(String name)

Deprecated.

Gets a persistent frame with the given name.

Overrides:

getFrame in class SceneGraphObject

Parameters:

name - The name of the frame.

Returns:

The loaded frame.