com.kuka.roboticsAPI.requestModel
Class GetCurrentConfigurationRequest

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

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetCurrentConfigurationRequest
extends AbstractDeviceRequest

Request for a robot to return it's current configuration. e.g. for the KUKA LWR (Lightweight robot) this consists of status, turn and alpha information.

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

GetCurrentConfigurationRequest(Robot robot)
Creates a new request instance.

GetCurrentConfigurationRequest(Robot robot, boolean includeCartesianPosition)
Creates a new request instance.

Method Summary

Robot	getDevice() The device to which the request is issued.
PoseInformation	getResult() Gets the result of the request.
boolean	includeCartesianPosition() Indicates that the cartesian position should be included in the response.
void	setResult(PoseInformation result) Sets the result for this request.

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

hasResult, toString

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.requestModel.IRequest

hasResult

Constructor Detail

GetCurrentConfigurationRequest

public GetCurrentConfigurationRequest(Robot robot)

Creates a new request instance.

Parameters:

robot - The robot to which this request is issued.

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.

GetCurrentConfigurationRequest

public GetCurrentConfigurationRequest(Robot robot,
                                      boolean includeCartesianPosition)

Creates a new request instance.

Parameters:

robot - The robot to which this request is issued.

includeCartesianPosition - indicates that the cartesian position should be included in the response.

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.

Method Detail

getDevice

public Robot getDevice()

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.

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(PoseInformation 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.

includeCartesianPosition

public boolean includeCartesianPosition()

Indicates that the cartesian position should be included in the response.

Returns:

true if the cartesian position should be included in the response.

getResult

public PoseInformation getResult()

Gets the result of the request.

Returns:

The result of the 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.