com.kuka.roboticsAPI.requestModel
Class GetAlphaAngleRequest

java.lang.Object
  com.kuka.roboticsAPI.requestModel.AbstractRequest
      com.kuka.roboticsAPI.requestModel.AbstractDeviceRequest
          com.kuka.roboticsAPI.requestModel.GetAlphaAngleRequest

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetAlphaAngleRequest
extends AbstractDeviceRequest

Request to calculate the alpha angle.

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.

Field Summary

static String

PARAM_ALPHAANGLE Alpha angle parameter name.

Constructor Summary

GetAlphaAngleRequest(LBR lbr, JointPosition joints)
Creates a new GetAlphaAngleRequest.

Method Summary

Robot	getDevice() The device to which the request is issued.
JointPosition	getJoints() Gets the joints for which the alpha angle should be calculated.
Double	getResult() Gets the result of the request.
boolean	hasResult() Returns true if getResult is not null.
void	setResult(double result) Sets the result for this request.

Methods inherited from class com.kuka.roboticsAPI.requestModel.AbstractRequest

toString

Methods inherited from class java.lang.Object

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

Field Detail

PARAM_ALPHAANGLE

public static final String PARAM_ALPHAANGLE

Alpha angle parameter name.

See Also:

Constant Field Values

Constructor Detail

GetAlphaAngleRequest

public GetAlphaAngleRequest(LBR lbr,
                            JointPosition joints)

Creates a new GetAlphaAngleRequest.

Parameters:

lbr - The lbr

joints - The joint angles for which the alpha angle is calculated.

Method Detail

hasResult

public boolean hasResult()

Description copied from class: AbstractRequest

Returns true if getResult is not null. May be overridden by subclasses to determine if the request has a result in a different way.

Specified by:

hasResult in interface IRequest

Overrides:

hasResult in class AbstractRequest

Returns:

True if the request has a result.

getResult

public Double getResult()

Description copied from interface: IRequest

Gets the result of the request.

Returns:

The result of the request.

getDevice

public Robot getDevice()

Description copied from class: AbstractDeviceRequest

The device to which the request is issued.

Specified by:

getDevice in interface IDeviceRequest

Overrides:

getDevice in class AbstractDeviceRequest

Returns:

The device to which the request is issued.

getJoints

public JointPosition getJoints()

Gets the joints for which the alpha angle should be calculated.

Returns:

The joints for which the alpha angle should be calculated.

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.

setResult

public void setResult(double result)

Sets the result for this request.

Parameters:

result - The result for this request.

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.