grl.FRIMode Class Reference

Inheritance diagram for grl.FRIMode:

Collaboration diagram for grl.FRIMode:

Public Member Functions
boolean	cancel ()
void	enable ()
	FRIMode (LBR lbr, FRISession friSession)
synchronized boolean	isEnableEnded ()
	true there are no outstanding calls made to enable() and you can switch modes More...
void	run ()
void	setControlMode (AbstractMotionControlMode teachModeControlMode)
void	setLogger (ITaskLogger logger)
synchronized boolean	stop ()

Detailed Description

Activate FRI mode in a separate thread

Definition at line 27 of file FRIMode.java.

Constructor & Destructor Documentation

FRIMode()

grl.FRIMode.FRIMode ( LBR  lbr, FRISession  friSession  )

inline

Parameters

flangeAttachment
maxAllowedJoints
minAllowedJoints

Definition at line 50 of file FRIMode.java.

Member Function Documentation

cancel()

boolean grl.FRIMode.cancel ( )

inline

Cancel the motion, thread stays in existence.

Definition at line 95 of file FRIMode.java.

enable()

void grl.FRIMode.enable ( )

inline

Definition at line 68 of file FRIMode.java.

isEnableEnded()

synchronized boolean grl.FRIMode.isEnableEnded ( )

inline

true there are no outstanding calls made to enable() and you can switch modes

See also

enable()

The sunrise HandGuidingMotion mode has an API quirk where you need to push the physical button to end the hand guiding mode. This tells you if the motion is both over and the button has been pushed so the action is really truly complete.

Returns

true if you can switch modes now, false if someone still needs to press the physical button

Definition at line 120 of file FRIMode.java.

run()

void grl.FRIMode.run ( )

inline

Definition at line 135 of file FRIMode.java.

setControlMode()

void grl.FRIMode.setControlMode ( AbstractMotionControlMode  teachModeControlMode )

inline

Parameters

setControlMode

Definition at line 64 of file FRIMode.java.

setLogger()

void grl.FRIMode.setLogger ( ITaskLogger  logger )

inline

Definition at line 56 of file FRIMode.java.

stop()

synchronized boolean grl.FRIMode.stop ( )

inline

Tell the hand guiding motion (teach mode) to stop and the thread exits. Make sure isEnableEnded returns true before calling this!

Returns

false on failure; true on successfully starting the shutdown process

Definition at line 81 of file FRIMode.java.

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The documentation for this class was generated from the following file:

• FRIMode.java