GroupMovement.java

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// -----------------------------------------------------------------------
// MLPI - <GroupMovement.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.
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// 2. Redistributions in binary form of SW must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
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// 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
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// 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
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// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

public class GroupMovement extends MlpiComponent{

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

  
  /*
   * Methods
   */
   
  GroupMovement(MlpiHandle connection, Robot.GroupRef groupRef) {
    super(connection);
    _groupRef = groupRef;
    _motionHandle = 0;
  }
  
  public native void MoveLinearAbsolute(RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType);
  
  public native void MoveLinearRelative(RobotPoint distance, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType);
  
  public native void MoveDirectAbsolute(RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType);
  
  public native void MoveDirectRelative(RobotPoint distance, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType);
  
  public native void MoveCircularAbsolute(RobotPoint midPoint, RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType);
 
  public native void MoveCircularRelative(RobotPoint midPoint, RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType);
  
  public native void MoveJumpAbsolute(RobotPoint endPoint, double velocity, double acceleration, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode, Robot.RobotSlopeType slopeType, double startHeight, double maxHeight, double endHeight);
  
  public native void SyncOnWithLimits(Motion.AxisRef beltAxis, double acceleration, double jerk);
  
  public native void SyncOffWithLimits(Motion.AxisRef beltAxis, double deceleration, double jerk, double radius, Robot.RobotSetMode setMode);
  
  public native void OpenCyclicChannel(double deceleration, double jerk, double radius, Robot.RobotSetMode setMode);
  
  public native void WriteCyclicChannel(RobotPoint point, Robot.RobotCyclicMode cyclicMode);
  
  public native void WaitForDone(long timeout);
  
  public native void WaitForActive(long timeout);
  
  public native void WaitForInBuffer(long timeout);
  
  public native void Stop(double deceleration, double jerk, boolean stop);
  
  public native void Interrupt(double deceleration, double jerk);
  
  public native void Continue ();
  
  public native void JogStep(RobotPoint distance, double velocity, double acceleration, double deceleration, double jerk);
  
  public native void JogCont(RobotPoint direction, double velocity, double acceleration, double deceleration, double jerk);
  
  public native void StopCmd(Robot.RobotMotionHandle motionHandle);
  
  public native Robot.RobotMotionHandle GetMotionHandle();
}