crcl.base

Class MoveToType

java.lang.Object

crcl.base.DataThingType

crcl.base.CRCLCommandType

crcl.base.MiddleCommandType

crcl.base.MoveToType

public class MoveToType
extends MiddleCommandType

MoveToType is derived from MiddleCommandType. An instance of MoveToType has the following elements: Name (inherited, optional) CommandID (inherited) MoveStraight EndPosition. EndPosition is a Pose to which the robot will move. If the value of MoveStraight is true, the controlled point must be moved in a straight line. If the value of MoveStraight is false, the controlled point may be moved along any convenient trajectory. The robot must reach the EndPosition within the tolerance established (1) by the tolerance given for the pose in the EndPosition, if there is a tolerance in the EndPosition, or if not (2) by the most recently executed instance of SetEndPoseToleranceType. The speed and acceleration to use are set either in the EndPosition or by previously executed CRCL commands. The type of EndPosition may be either PoseType or PoseAndSetType, which is derived from PoseType.

Java class for MoveToType complex type.

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

 <complexType name="MoveToType">
   <complexContent>
     <extension base="{}MiddleCommandType">
       <sequence>
         <element name="MoveStraight" type="{http://www.w3.org/2001/XMLSchema}boolean"/>
         <element name="EndPosition" type="{}PoseType"/>
       </sequence>
     </extension>
   </complexContent>
 </complexType>
 

Field Summary

Fields

Modifier and Type	Field and Description
protected PoseType	endPosition
protected boolean	moveStraight

Fields inherited from class crcl.base.CRCLCommandType

commandID

Fields inherited from class crcl.base.DataThingType

name

Constructor Summary

Constructors

Constructor and Description
MoveToType()

Method Summary

Modifier and Type	Method and Description
PoseType	getEndPosition() Gets the value of the endPosition property.
boolean	isMoveStraight() Gets the value of the moveStraight property.
void	setEndPosition(PoseType value) Sets the value of the endPosition property.
void	setMoveStraight(boolean value) Sets the value of the moveStraight 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

endPosition

protected PoseType endPosition

Constructor Detail

MoveToType

public MoveToType()

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.

getEndPosition

public PoseType getEndPosition()

Gets the value of the endPosition property.

Returns:

possible object is PoseType

setEndPosition

public void setEndPosition(PoseType value)

Sets the value of the endPosition property.

Parameters:

value - allowed object is PoseType