Class JointMoveRobotInstruction

Joint move (MoveJ/PTP) instruction.

Remarks

Instructs the robot to move towards the specified target through its joint space. The robot will attempt to move at the target speed of the most limiting joint, such that all joints arrive at the same time.

Hierarchy (View Summary)

RobotInstruction
- JointMoveRobotInstruction

Index

Constructors

Accessors

program solution target

Methods

Constructors

constructor

new JointMoveRobotInstruction(): JointMoveRobotInstruction
Constructor.

Returns JointMoveRobotInstruction
Overrides RobotInstruction.constructor

Accessors

program

get program(): null | RobotProgram
The program to which the instruction has been assigned.

Returns null | RobotProgram
Remarks
If the program is null then the instruction hasn't been added to a program.

Inherited from RobotInstruction.program
set program(value: null | RobotProgram): void
Parameters
- value: null | RobotProgram
Returns void
Inherited from RobotInstruction.program

solution

get solution(): null | number[]
The joint move solution.

Returns null | number[]
set solution(value: null | number[]): void
Parameters
- value: null | number[]
Returns void

target

get target(): null | Entity
The target entity.

Returns null | Entity
set target(value: null | Entity): void
Parameters
- value: null | Entity
Returns void

Methods

execute

execute(controller: RobotControllerComponent): Future<void>
Executes the instruction.
Parameters
- controller: RobotControllerComponent
  The robot controller on which the instruction is to be executed.
Returns Future<void>
The future that is resolved once the instruction has been executed.

Overrides RobotInstruction.execute

label

label(units: InspectorUnits): string
The label for the instruction, as it is to be displayed in the inspector.
Parameters
- units: InspectorUnits
  The unit settings for the inspector.
Returns string
The label.

Overrides RobotInstruction.label