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java.lang.Objectorg.robokind.api.motion.utils.PositionTargetFrameSource
public class PositionTargetFrameSource
A FrameSource which moves the Joints of a Robot towards a set of target positions with a limited velocity.
Constructor Summary | |
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PositionTargetFrameSource(double velocity,
Robot.RobotPositionMap targetPositions)
Creates a new MotionTargetFrameSource |
Method Summary | |
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void |
clearPositions()
Clears all target positions and disables this MotionTargetFrameSource. |
protected void |
disableAtGoal()
|
boolean |
getEnabled()
Returns true if enabled |
MotionFrame |
getMovements(long time,
long interval)
Creates a MotionFrame starting at the Robot's goal positions, and moving towards the target positions as much as the velocity will allow in the given time interval. |
Robot |
getRobot()
|
boolean |
getStopOnGoalFlag()
Returns the StopOnGoalFlag. |
double |
getVelocity()
Returns the velocity, measured as (change in NormalizedDouble)/millisecond |
protected boolean |
isAtGoal()
|
void |
putPosition(Robot.JointId id,
org.robokind.api.common.position.NormalizedDouble position)
Set the target position for the given JointId and enables this MotionTargetFrameSource. |
void |
putPositions(Robot.RobotPositionMap targetPositions)
Puts the given positions in the target position map and enables this MotionTargetFrameSource. |
void |
setEnabled(boolean enabled)
If false, this MotionTargetFrameSource will return null when queried for Movements. |
void |
setRobot(Robot robot)
Sets the Robot to |
void |
setStopOnGoal(boolean val)
When StopOnGoal is set true, the MotionTargetFrameSource will disable itself after reaching the target positions. |
void |
setVelocity(double velocity)
Set the max velocity, measured as (change in NormalizedDouble)/millisecond. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public PositionTargetFrameSource(double velocity, Robot.RobotPositionMap targetPositions)
context
- BundleContext used to retrieve the RobotrobotId
- Id of the Robot to movevelocity
- maximum allowed velocity. The velocity is measured in
terms of (change in NormalizedDouble)/millisecondtargetPositions
- initial target positions to move towards.
Positions for Joints not belonging to the Robot with the given robotId
are ignoredMethod Detail |
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public void setRobot(Robot robot)
RobotFrameSource
setRobot
in interface RobotFrameSource
public Robot getRobot()
getRobot
in interface RobotFrameSource
public void setEnabled(boolean enabled)
enabled
- public boolean getEnabled()
public void setVelocity(double velocity)
velocity
- max velocity, measured as
(change in NormalizedDouble)/millisecondpublic double getVelocity()
public void setStopOnGoal(boolean val)
val
- value for StopOnGoalpublic boolean getStopOnGoalFlag()
public void putPositions(Robot.RobotPositionMap targetPositions)
targetPositions
- positions to addpublic void putPosition(Robot.JointId id, org.robokind.api.common.position.NormalizedDouble position)
id
- JointId to setposition
- new position to setpublic void clearPositions()
public MotionFrame getMovements(long time, long interval)
getMovements
in interface FrameSource<Robot.RobotPositionMap>
time
- the time of this movement, often the current timeinterval
- time length of the movement in milliseconds
protected void disableAtGoal()
protected boolean isAtGoal()
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