crcl.base

Class MoveThroughToType

java.lang.Object

crcl.base.DataThingType

crcl.base.CRCLCommandType

crcl.base.MiddleCommandType

crcl.base.MoveThroughToType

public class MoveThroughToType
extends MiddleCommandType

MoveThroughToType is derived from MiddleCommandType. An instance of MoveThroughToType has the following elements: Name (inherited, optional) CommandID (inherited) MoveStraight Waypoint (multiple) NumPositions. Each Waypoint before the last is a Pose that the robot should move through. The last Waypoint is the Pose the robot should be in after the command is fully executed. NumPositions is the number of instances of the Waypoint element. The robot must pass each point within the tolerance established (1) by the tolerance given for the pose in the Waypoint, if there is a tolerance in the Waypoint, or if not (2) by the most recently executed instance of SetIntermediatePoseToleranceType (or by SetEndPoseToleranceType for the final Waypoint). The speed and acceleration to use are set either in the Waypoint or by previously executed CRCL commands. If the value of MoveStraight is true, the controlled point must be moved in a straight line between Waypoints. If the value of MoveStraight is false, the controlled point may be moved along any convenient trajectory between Waypoints. In either case, there are no restrictions on the values of XAxis and ZAxis between waypoints. The type of each Waypoint may be either PoseType or PoseAndSetType, which is derived from PoseType.

Java class for MoveThroughToType complex type.

The following schema fragment specifies the expected content contained within this class.

 <complexType name="MoveThroughToType">
   <complexContent>
     <extension base="{}MiddleCommandType">
       <sequence>
         <element name="MoveStraight" type="{http://www.w3.org/2001/XMLSchema}boolean"/>
         <element name="Waypoint" type="{}PoseType" maxOccurs="unbounded" minOccurs="2"/>
         <element name="NumPositions" type="{http://www.w3.org/2001/XMLSchema}int"/>
       </sequence>
     </extension>
   </complexContent>
 </complexType>
 

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	moveStraight
protected int	numPositions
protected List<PoseType>	waypoint

Fields inherited from class crcl.base.CRCLCommandType

commandID

Fields inherited from class crcl.base.DataThingType

name

Constructor Summary

Constructors

Constructor and Description
MoveThroughToType()

Method Summary

Modifier and Type	Method and Description
int	getNumPositions() Gets the value of the numPositions property.
List<PoseType>	getWaypoint() Gets the value of the waypoint property.
boolean	isMoveStraight() Gets the value of the moveStraight property.
void	setMoveStraight(boolean value) Sets the value of the moveStraight property.
void	setNumPositions(int value) Sets the value of the numPositions property.

Methods inherited from class crcl.base.CRCLCommandType

getCommandID, setCommandID

Methods inherited from class crcl.base.DataThingType

getName, setName

Methods inherited from class java.lang.Object

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

Field Detail

moveStraight

protected boolean moveStraight

waypoint

protected List<PoseType> waypoint

numPositions

protected int numPositions

Constructor Detail

MoveThroughToType

public MoveThroughToType()

Method Detail

isMoveStraight

public boolean isMoveStraight()

Gets the value of the moveStraight property.

setMoveStraight

public void setMoveStraight(boolean value)

Sets the value of the moveStraight property.

getWaypoint

public List<PoseType> getWaypoint()

Gets the value of the waypoint property.

This accessor method returns a reference to the live list, not a snapshot. Therefore any modification you make to the returned list will be present inside the JAXB object. This is why there is not a set method for the waypoint property.

For example, to add a new item, do as follows:

    getWaypoint().add(newItem);
 

Objects of the following type(s) are allowed in the list PoseType

getNumPositions

public int getNumPositions()

Gets the value of the numPositions property.

setNumPositions

public void setNumPositions(int value)

Sets the value of the numPositions property.