com.kuka.roboticsAPI.requestModel
Class GetForwardKinematicValidRequest

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

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetForwardKinematicValidRequest
extends AbstractDeviceRequest

Request for a robot to calculate a inverse kinematics value.

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_E1 E1 parameter name.
static String	PARAM_FORWARD E1 kinematics.
static String	PARAM_FORWARD_ALPHA Alpha kinematics.
static String	PARAM_FRAME Frame parameter name.
static String	PARAM_JOINTANGLES Joint angles parameter name.
static String	PARAM_STATUS Status parameter name.
static String	PARAM_TURN Turn parameter name.

Constructor Summary

GetForwardKinematicValidRequest(Robot robot, JointPosition joints)
Creates a new request instance.

Method Summary

Robot	getDevice() The device to which the request is issued.
JointPosition	getJoints() Gets the joints for which the forward kinematic should be calculated.
Frame	getResult() Gets the result of the request.
void	setResult(Frame 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

Field Detail

PARAM_FORWARD_ALPHA

public static final String PARAM_FORWARD_ALPHA

Alpha kinematics.

See Also:

Constant Field Values

PARAM_FORWARD

public static final String PARAM_FORWARD

E1 kinematics.

See Also:

Constant Field Values

PARAM_FRAME

public static final String PARAM_FRAME

Frame parameter name.

See Also:

Constant Field Values

PARAM_STATUS

public static final String PARAM_STATUS

Status parameter name.

See Also:

Constant Field Values

PARAM_TURN

public static final String PARAM_TURN

Turn parameter name.

See Also:

Constant Field Values

PARAM_E1

public static final String PARAM_E1

E1 parameter name.

See Also:

Constant Field Values

PARAM_JOINTANGLES

public static final String PARAM_JOINTANGLES

Joint angles parameter name.

See Also:

Constant Field Values

Constructor Detail

GetForwardKinematicValidRequest

public GetForwardKinematicValidRequest(Robot robot,
                                       JointPosition joints)

Creates a new request instance.

Parameters:

robot - The robot to which this request is issued.

joints - The joints for which the forward kinematic 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.

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(Frame 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.

getResult

public Frame 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.

getJoints

public JointPosition getJoints()

Gets the joints for which the forward kinematic should be calculated.

Returns:

The joints for which the forward kinematic 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.