GroupInfo.java

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// -----------------------------------------------------------------------
// MLPI - <GroupInfo.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
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// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

public class GroupInfo extends MlpiComponent {

  /*
   * Fields
   */
  private final Robot.GroupRef _groupRef;

  
  /*
   * Methods
   */
   
  GroupInfo(MlpiHandle connection, Robot.GroupRef groupRef) {
    super(connection);
    _groupRef = groupRef;
  }
  
  public native void MovePoint( RobotPoint point);
  
  public native void TransformPoint(Robot.RobotCoordinateSystem cs, RobotPoint point);
  
  public native void SetPerformanceEnable(boolean type);
  
  public native Robot.RobotPerformanceResult[] GetPerformanceResult();
  
  public native Robot.RobotMechanicData[] GetMechanicData(boolean updateOnly);
  
  public native RobotPoint GetActualPosition(Robot.RobotCoordinateSystem cs);
  
  public native String GetName();
  
  public native Robot.RobotTypes GetType();
  
  public native Robot.RobotTrafoParameter GetTransform(Robot.RobotCoordinateSystem coordSys);
  
  public native Robot.RobotBeltConfigValues GetBeltConfiguration(Motion.AxisRef belt);
  
  public native Robot.RobotBeltErrorReactionValues GetBeltErrorReaction(Motion.AxisRef belt);
  
  public native String GetDiagnosisText();
  
  public native Robot.RobotKinematicsValues GetKinematicValues();
  
  public native Robot.RobotKinematicsUnits GetKinematicUnits();
  

  public native Robot.RobotCoordinateSystemInfo[] GetCoordinateSystemInfo();
  
  public native Robot.RobotSafeZoneData[] GetSafeZones();
  
  public native double GetMoveId();
  
  public native Robot.RobotCmdInfo[] GetCmdInfo(Robot.RobotCmdInfoType infoType);

}