com.anylogic.engine.markup.Robot<T>

All Implemented Interfaces:: AggregatableAnimationElement, HasLevel, IMarkupLibraryDescriptor, LevelElement, LevelMarkup, com.anylogic.engine.markup.material_handling.IMaterialMarkupLibraryDescriptor, com.anylogic.engine.markup.material_handling.IRobotDescriptor<T>, SVGElement, UsdElement, Serializable

public class Robot<T extends Agent>
extends AbstractLevelMarkup
implements com.anylogic.engine.markup.material_handling.IRobotDescriptor<T>

See Also:: Serialized Form

Field Summary

Fields inherited from interface com.anylogic.engine.presentation.UsdElement

ID_NOT_SET

Constructor Summary

Constructor Description

Robot()

Robot(Agent owner, ShapeDrawMode drawMode, boolean isPublic, boolean isObstacle, com.anylogic.engine.markup.material_handling.IRobotDescriptor<T> descriptor, double x, double y, double z, double[] linksLength, Color linksColor, Color endEffectorColor, double initialEndEffectorX, double initialEndEffectorY, double initialEndEffectorZ, double maxArmReach, boolean blockedZoneEnabled, double blockedZoneStartAngleRadians, double blockedZoneAngleRadians)

Method Summary

Modifier and Type	Method	Description
`void`	`attachAgentAnimation(T agent)`	Attaches agent animation to the robot end effector to perform agent transporting by the robot with `move()` command.
`double`	`averageCycleTime()`	Returns average time that takes the robot to transport or process an agent, in model time units
`double`	`averageCycleTime(TimeUnits timeUnits)`	Returns average time that takes the robot to transport or process an agent, in time units
`boolean`	`canReach(double x, double y, double z, RobotApproachType approachType)`	Returns `true` if the robot can reach specified point in space with specified approach type, `false` otherwise
`boolean`	`canReach(Agent agent, RobotApproachType direction)`	Returns `true` if the robot can reach the agent with specified approach type, `false` otherwise
`boolean`	`contains(double px, double py)`	Test if the shape contains the point with the given coordinates (relative to this shape's container, i.e.
`void`	`detachAgentAnimation()`	Detaches previously attached agent animation from the robot end effector.
`void`	`fail()`	Sets the robot to `failed` state
`T`	`getAgent()`	Returns the agent, currently operated by robot, including the case when robot is moving to the agent.
`List<T>`	`getAgentsInQueue()`	Returns list of agents, waiting for the robot.
`double`	`getBlockedZoneAngle()`	Returns the delta angle of the robot's blocked zone in radians.
`double`	`getBlockedZoneAngle(AngleUnits units)`	Returns the delta angle of the robot's blocked zone.
`double`	`getBlockedZoneStartAngle()`	Returns the initial angle of the robot's blocked zone in radians.
`double`	`getBlockedZoneStartAngle(AngleUnits units)`	Returns the initial angle of the robot's blocked zone.
`RobotEndEffector`	`getEndEffector()`	Returns the end effector equipped by the robot.
`Color`	`getEndEffectorColor()`	Returns the color of robot's end effector
`double`	`getEndEffectorHorizontalRotation()`	Returns the horizontal (along Z axis) rotation of the end effector, in radians
`Position`	`getEndEffectorPosition()`	Returns the position of the robot's end effector
`double`	`getEndEffectorVerticalRotation()`	Returns the vertical (along y axis) rotation of the end effector, in radians
`double`	`getGripperLength()`	Returns the robot's gripper length in pixels.
`double`	`getGripperLength(LengthUnits units)`	Returns the robot's gripper length in the specified length units.
`double`	`getInitialEndEffectorX()`	Returns the initial X coordinate of the robot's end effector
`double`	`getInitialEndEffectorY()`	Returns the initial Y coordinate of the robot's end effector
`double`	`getInitialEndEffectorZ()`	Returns the initial Z coordinate of the robot's end effector
`com.anylogic.engine.markup.material_handling.IRobotDescriptor<T>`	`getLibraryDescriptor()`
`double[]`	`getLinkEnd(int i)`
`double[]`	`getLinkRotations(int i)`
`Color`	`getLinksColor()`	Returns the color of robot's links
`double[]`	`getLinksLength()`	Returns array of robot's links length, in pixels
`double[]`	`getLinksLength(LengthUnits units)`	Returns array of the robot's links length, in the specified length units
`double`	`getMaxArmReach()`	Returns maximum arm reach of the robot in pixels
`double`	`getMaxArmReach(LengthUnits lengthUnits)`	Returns the robot's maximum arm reach in the specified length units.
`RobotState`	`getState()`	Returns current robot state
`double`	`getStatisticsStartTime()`
`double`	`getUtilization()`	Returns the robot utilization: the fraction of time the robot was operating.
`double`	`getVacuumGripperHeightInPixels()`
`double`	`getVacuumGripperLength()`	Returns the robot's vacuum gripper length in pixels.
`double`	`getVacuumGripperLength(LengthUnits units)`	Returns the robot's vacuum gripper length in the specified length units.
`double`	`getVacuumGripperWidth()`	Returns the robot's vacuum gripper width in pixels.
`double`	`getVacuumGripperWidth(LengthUnits units)`	Returns the robot's vacuum gripper width in the specified length units.
`double`	`getWeldingGunLength()`	Returns the robot's welding gun length in pixels.
`double`	`getWeldingGunLength(LengthUnits units)`	Returns the robot's welding gun length in the specified length units.
`double`	`getX()`	Returns the X coordinate of the robot
`Point`	`getXYZ()`	Returns the point location of the robot
`double`	`getY()`	Returns the Y coordinate of the robot
`double`	`getZ()`	Returns Z coordinate of the robot relative to robot's level
`boolean`	`isBlockedZoneEnabled()`	Returns `true` if the robot has enabled blocked zone and `false` otherwise.
`boolean`	`isFailed()`	Returns `true` if the robot is failed and `false` otherwise.
`boolean`	`isObstacle()`	Returns `true` if this robot is considered an obstacle by transporters moving in free space mode.
`void`	`move(PointNode node, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits)`	Starts movement to place attached agent (if exists) or robot end effector in the target node.
`void`	`move(PointNode node, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, double safeHeight)`	Starts movement to place attached agent (if exists) or robot end effector in the target node.
`void`	`move(PointNode node, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, RobotState state)`	Starts movement to place attached agent (if exists) or robot end effector in the target node.
`void`	`move(PointNode node, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, RobotState state, double safeHeight)`	Starts movement to place attached agent (if exists) or robot end effector in the target node.
`void`	`move(Point point, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits)`	Starts movement to place attached agent (if exists) or robot end effector in the target point.
`void`	`move(Point point, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, double safeHeight)`	Starts movement to place attached agent (if exists) or robot end effector in the target point.
`void`	`move(Point point, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, RobotState state)`	Starts movement to place attached agent (if exists) or robot end effector in the target point.
`void`	`move(Point point, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, RobotState state, double safeHeight)`	Starts movement to place attached agent (if exists) or robot end effector in the target point.
`void`	`move(T agent, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits)`	Starts movement to place robot end effector at the target agent in position for pickup.
`void`	`move(T agent, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, double safeHeight)`	Starts movement to place robot end effector at the target agent in position for pickup.
`void`	`move(T agent, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, RobotState state)`	Starts movement to place robot end effector at the target agent in position for pickup.
`void`	`move(T agent, RobotApproachType endEffectorApproaches, double time, TimeUnits timeUnits, RobotState state, double safeHeight)`	Starts movement to place robot end effector at the target agent in position for pickup.
`int`	`numberOfItemsProcessed()`	Returns the number of items, transported or processed by the robot since model start or since last `resetStats()` call
`void`	`onAgentProcessingEnd(T agent)`	Calls the robot's `onProcessEnd()` callback code
`void`	`onAgentProcessingStart(T agent)`	Calls the robot's `onProcessStart()` callback code
`void`	`onFailed()`	Calls the robot's `onFailed()` callback code
`void`	`onRelease(T agent)`	Calls the robot's `onRelease()` callback code
`void`	`onRepaired()`	Calls the robot's `onRepaired()` callback code
`void`	`onRobotMovementEnd()`	Calls the robot's `onMovementFinished()` callback code
`void`	`onRobotMovementStart()`	Calls the robot's `onMovementStart()` callback code
`void`	`onRobotStateChanged(T agent, RobotState newState)`	Calls the robot's `onRobotStateChanged()` callback code
`void`	`onSeize(T agent)`	Calls the robot's `onSeize()` callback code
`void`	`repair()`	Repairs the robot from `failed` state
`void`	`resetStats()`	Resets the robot utilization statistics.
`void`	`setBlockedZone(double startAngle, double deltaAngle, AngleUnits units)`	Sets the specified blocked zone of the robot in the specified angle units.
`void`	`setBlockedZoneAngle(double blockedZoneAngle)`	Sets the delta angle of the robot's blocked zone in radians.
`void`	`setBlockedZoneAngle(double angle, AngleUnits units)`	Sets the delta angle of the robot's blocked zone in the specified angle units.
`void`	`setBlockedZoneEnabled(boolean blockedZoneEnabled)`	Enables the robot's blocked zone if the parameter is `true` and disables if `false`
`void`	`setBlockedZoneStartAngle(double blockedZoneStartAngle)`	Sets the initial angle of the robot's blocked zone in raidans.
`void`	`setBlockedZoneStartAngle(double angle, AngleUnits units)`	Sets the initial angle of the robot's blocked zone in the specified units.
`void`	`setEndEffector(RobotEndEffector robotEndEffector)`	Sets the robot's end effector.
`void`	`setEndEffectorColor(Color color)`	Sets the specified color of robot's end effector
`void`	`setGripperLength(double gripperLength)`	Sets the robot's gripper length in pixels.
`void`	`setGripperLength(double gripperLength, LengthUnits units)`	Sets the robot's gripper length in the specified length units.
`void`	`setGripperWidth(double gripperWidth)`
`void`	`setInitialEndEffectorX(double initialEndEffectorX)`	Sets the initial X coordinate of the robot's end effector
`void`	`setInitialEndEffectorY(double initialEndEffectorY)`	Sets the initial Y coordinate of the robot's end effector
`void`	`setInitialEndEffectorZ(double initialEndEffectorZ)`	Sets the initial Z coordinate of the robot's end effector
`void`	`setLinksColor(Color color)`	Sets the specified color of robot's links
`void`	`setLinksLength(double[] linksLength)`	Sets the links length to the robot in pixels
`void`	`setLinksLength(double[] linksLength, LengthUnits units)`	Sets the links length to the robot in the specified units
`void`	`setMaxArmReach(double maxArmReach)`	Sets the robot's maximum arm reach in pixels.
`void`	`setMaxArmReach(double maxArmReach, LengthUnits units)`	Sets the robot's maximum arm reach in the specified length units.
`void`	`setObstacle(boolean isObstacle)`	Sets this robot as an obstacle for transporters moving in free space mode.
`void`	`setVacuumGripperLength(double gripperLength)`	Sets the robot's vacuum gripper length in pixels.
`void`	`setVacuumGripperLength(double gripperLength, LengthUnits units)`	Sets the robot's vacuum gripper length in the specified length units.
`void`	`setVacuumGripperWidth(double gripperWidth)`	Sets the robot's vacuum gripper width in pixels.
`void`	`setVacuumGripperWidth(double gripperWidth, LengthUnits units)`	Sets the robot's vacuum gripper width in the specified length units.
`void`	`setWeldingGunLength(double weldingGunLength)`	Sets the robot's welding gun length in pixels.
`void`	`setWeldingGunLength(double weldingGunLength, LengthUnits units)`	Sets the robot's welding gun length in the specified length units.
`void`	`setX(double x)`	Sets the X coordinate of the robot
`void`	`setXYZ(Point point)`	Places the robot into the argument point location
`void`	`setY(double y)`	Sets the Y coordinate of the robot
`void`	`setZ(double z)`	Sets the Z coordinate of the robot
`double`	`timeInState(RobotState robotState)`	Returns time (in model time units) the robot spent in specified state since model start or since last `resetStats()` call
`double`	`timeInState(RobotState robotState, TimeUnits timeUnits)`	Returns time (in units) the robot spent in specified state since model start or since last `resetStats()` call
`void`	`uninstallEndEffector()`

Methods inherited from class com.anylogic.engine.markup.AbstractLevelMarkup

getDrawMode, getLevel, setLevel

Methods inherited from class com.anylogic.engine.markup.MarkupShape

error, getFullName, getOutsideLevelZ, getPresentable, getSpace, initialize, isClickHandled, isOnly3D, isPublic, onClick, remove, setDrawMode, setOwner

Methods inherited from class com.anylogic.engine.markup.AbstractMarkup

discardOwner, executeUserAction, findSVGElement, getGroupOrOwner, getName, getOrGenerateUSDId, getSVGComponent, getSVGId, initializeInternal, isVisible, onAggregatorInitialized, onAggregatorVisibilityChanged, removeSVGFromOwner, resetSVGState, setVisible, updateDynamicProperties, updateDynamicPropertiesStructural, updateSVGProperties

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.anylogic.engine.markup.AggregatableAnimationElement

initializeInternal, onAggregatorVisibilityChanged, postInitialize

Methods inherited from interface com.anylogic.engine.markup.material_handling.IMaterialMarkupLibraryDescriptor

getMarkup, setMarkup

Constructor Details

Robot

@AnyLogicInternalAPI
public Robot(Agent owner,
 ShapeDrawMode drawMode,
 boolean isPublic,
 boolean isObstacle,
 com.anylogic.engine.markup.material_handling.IRobotDescriptor<T> descriptor,
 double x,
 double y,
 double z,
 double[] linksLength,
 Color linksColor,
 Color endEffectorColor,
 double initialEndEffectorX,
 double initialEndEffectorY,
 double initialEndEffectorZ,
 double maxArmReach,
 boolean blockedZoneEnabled,
 double blockedZoneStartAngleRadians,
 double blockedZoneAngleRadians)

Robot

public Robot()

Method Details

getX

public double getX()

Returns the X coordinate of the robot

Returns:: the X coordinate of the robot

getY

public double getY()

Returns the Y coordinate of the robot

Returns:: the Y coordinate of the robot

getZ

public double getZ()

Returns Z coordinate of the robot relative to robot's level

Returns:: the Z coordinate of the robot relative to robot's level

getXYZ

public Point getXYZ()

Returns the point location of the robot

Returns:: the Point object with coordinates of the robot

setX

public void setX(double x)

Sets the X coordinate of the robot

Parameters:: x - the X coordinate of the robot

setY

public void setY(double y)

Sets the Y coordinate of the robot

Parameters:: y - the Y coordinate of the robot

setZ

public void setZ(double z)

Sets the Z coordinate of the robot

Parameters:: z - the Z coordinate of the robot

setXYZ

public void setXYZ(Point point)

Places the robot into the argument point location

Parameters:: point - the location that the robot should be placed into

setGripperWidth

@AnyLogicInternalLibraryAPI
public void setGripperWidth(double gripperWidth)

contains

public boolean contains(double px,
 double py)

Description copied from class: MarkupShape

Test if the shape contains the point with the given coordinates (relative to this shape's container, i.e. in the same system with the coordinates of this shape, x and y)

Specified by:: contains in class MarkupShape
Parameters:: px - the x coordinate relative to this shape's container; py - the y coordinate relative to this shape's container
Returns:: true if the shape contains the point with the given coordinates

getVacuumGripperHeightInPixels

@AnyLogicInternalLibraryAPI
public double getVacuumGripperHeightInPixels()

getInitialEndEffectorX

public double getInitialEndEffectorX()

Returns the initial X coordinate of the robot's end effector

Returns:: the initial X coordinate of the robot's end effector

setInitialEndEffectorX

public void setInitialEndEffectorX(double initialEndEffectorX)

Sets the initial X coordinate of the robot's end effector

Parameters:: initialEndEffectorX - the X coordinate of the robot's end effector

getInitialEndEffectorY

public double getInitialEndEffectorY()

Returns the initial Y coordinate of the robot's end effector

Returns:: the initial Y coordinate of the robot's end effector

setInitialEndEffectorY

public void setInitialEndEffectorY(double initialEndEffectorY)

Sets the initial Y coordinate of the robot's end effector

Parameters:: initialEndEffectorY - the Y coordinate of the robot's end effector

getInitialEndEffectorZ

public double getInitialEndEffectorZ()

Returns the initial Z coordinate of the robot's end effector

Returns:: the initial Z coordinate of the robot's end effector

setInitialEndEffectorZ

public void setInitialEndEffectorZ(double initialEndEffectorZ)

Sets the initial Z coordinate of the robot's end effector

Parameters:: initialEndEffectorZ - the Z coordinate of the robot's end effector

getLinksLength

public double[] getLinksLength()

Returns array of robot's links length, in pixels

Returns:: array of robot's links length, in pixels

getLinksLength

public double[] getLinksLength(LengthUnits units)

Returns array of the robot's links length, in the specified length units

Parameters:: units - - a constant defining the length units
Returns:: array of the robot's links length, in the specified length units

setLinksLength

public void setLinksLength(double[] linksLength)

Sets the links length to the robot in pixels

Parameters:: linksLength - - array of the links lengths, measured in pixels. Should contain exactly 6 values

setLinksLength

public void setLinksLength(double[] linksLength,
 LengthUnits units)

Sets the links length to the robot in the specified units

Parameters:: linksLength - - array of the links lengths, measured in the specified length units. Should contain exactly 6 values; units - - a constant defining the length units

getLibraryDescriptor

@AnyLogicInternalAPI
public com.anylogic.engine.markup.material_handling.IRobotDescriptor<T> getLibraryDescriptor()

getLinksColor

public Color getLinksColor()

Returns the color of robot's links

Returns:: robot's links color

setEndEffectorColor

public void setEndEffectorColor(Color color)

Sets the specified color of robot's end effector

Parameters:: color - - specified color of robot's end effector

getEndEffectorColor

public Color getEndEffectorColor()

Returns the color of robot's end effector

Returns:: robot's end effector color

setLinksColor

public void setLinksColor(Color color)

Sets the specified color of robot's links

Parameters:: color - - specified color of robot's links

getLinkEnd

@AnyLogicInternalAPI
public double[] getLinkEnd(int i)

Specified by:: getLinkEnd in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

getLinkRotations

@AnyLogicInternalLibraryAPI
public double[] getLinkRotations(int i)

Specified by:: getLinkRotations in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

canReach

public boolean canReach(double x,
 double y,
 double z,
 RobotApproachType approachType)

Returns true if the robot can reach specified point in space with specified approach type, false otherwise

Specified by:: canReach in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

canReach

public boolean canReach(Agent agent,
 RobotApproachType direction)

Returns true if the robot can reach the agent with specified approach type, false otherwise

Specified by:: canReach in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

getMaxArmReach

public double getMaxArmReach()

Returns maximum arm reach of the robot in pixels

Returns:: maximum arm reach of the robot in pixels

getMaxArmReach

public double getMaxArmReach(LengthUnits lengthUnits)

Returns the robot's maximum arm reach in the specified length units.

Parameters:: units - - a constant defining the length units
Returns:: robot's maximum arm reach in the specified units

setMaxArmReach

public void setMaxArmReach(double maxArmReach,
 LengthUnits units)

Sets the robot's maximum arm reach in the specified length units.

Parameters:: maxArmReach - - robot's maximum arm reach; units - - a constant defining the length units

setMaxArmReach

public void setMaxArmReach(double maxArmReach)

Sets the robot's maximum arm reach in pixels.

Parameters:: maxArmReach - - robot's maximum arm reach in pixels

getGripperLength

public double getGripperLength()

Returns the robot's gripper length in pixels.

Specified by:: getGripperLength in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: robot's gripper length in pixels

getGripperLength

public double getGripperLength(LengthUnits units)

Returns the robot's gripper length in the specified length units.

Parameters:: units - - a constant defining the length units
Returns:: robot's gripper length in the specified units

setGripperLength

public void setGripperLength(double gripperLength)

Sets the robot's gripper length in pixels.

Specified by:: setGripperLength in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Parameters:: gripperLength - - the robot's gripper length

setGripperLength

public void setGripperLength(double gripperLength,
 LengthUnits units)

Sets the robot's gripper length in the specified length units.

Parameters:: gripperLength - - the robot's gripper length; units - - a constant defining the length units

getVacuumGripperLength

public double getVacuumGripperLength()

Returns the robot's vacuum gripper length in pixels.

Specified by:: getVacuumGripperLength in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: robot's vacuum gripper length in pixels

getVacuumGripperLength

public double getVacuumGripperLength(LengthUnits units)

Returns the robot's vacuum gripper length in the specified length units.

Parameters:: units - - a constant defining the length units
Returns:: robot's vacuum gripper length in the specified units

setVacuumGripperLength

public void setVacuumGripperLength(double gripperLength)

Sets the robot's vacuum gripper length in pixels.

Specified by:: setVacuumGripperLength in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Parameters:: gripperLength - - the robot's vacuum gripper length

setVacuumGripperLength

public void setVacuumGripperLength(double gripperLength,
 LengthUnits units)

Sets the robot's vacuum gripper length in the specified length units.

Parameters:: gripperLength - - the robot's vacuum gripper length; units - - a constant defining the length units

getVacuumGripperWidth

public double getVacuumGripperWidth()

Returns the robot's vacuum gripper width in pixels.

Specified by:: getVacuumGripperWidth in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: robot's gripper width in pixels

getVacuumGripperWidth

public double getVacuumGripperWidth(LengthUnits units)

Returns the robot's vacuum gripper width in the specified length units.

Parameters:: units - - a constant defining the length units
Returns:: robot's vacuum gripper width in the specified units

setVacuumGripperWidth

public void setVacuumGripperWidth(double gripperWidth)

Sets the robot's vacuum gripper width in pixels.

Specified by:: setVacuumGripperWidth in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Parameters:: gripperLength - - the robot's vacuum gripper width

setVacuumGripperWidth

public void setVacuumGripperWidth(double gripperWidth,
 LengthUnits units)

Sets the robot's vacuum gripper width in the specified length units.

Parameters:: gripperLength - - the robot's vacuum gripper width; units - - a constant defining the length units

getWeldingGunLength

public double getWeldingGunLength()

Returns the robot's welding gun length in pixels.

Specified by:: getWeldingGunLength in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: robot's welding gun width in pixels

getWeldingGunLength

public double getWeldingGunLength(LengthUnits units)

Returns the robot's welding gun length in the specified length units.

Parameters:: units - - a constant defining the length units
Returns:: robot's welding gun length in the specified units

setWeldingGunLength

public void setWeldingGunLength(double weldingGunLength)

Sets the robot's welding gun length in pixels.

Specified by:: setWeldingGunLength in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Parameters:: weldingGunLength - - the robot's welding gun length

setWeldingGunLength

public void setWeldingGunLength(double weldingGunLength,
 LengthUnits units)

Sets the robot's welding gun length in the specified length units.

Parameters:: weldingGunLength - - the robot's welding gun length; units - - a constant defining the length units

getEndEffector

public RobotEndEffector getEndEffector()

Returns the end effector equipped by the robot.

Specified by:

getEndEffector in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Returns:

the end effector equipped by the robot. Valid values are:

RobotEndEffector.ROBOT_END_EFFECTOR_GRIPPER
RobotEndEffector.ROBOT_END_EFFECTOR_VACUUM_GRIPPER
RobotEndEffector.ROBOT_END_EFFECTOR_WELDING_GUN
RobotEndEffector.ROBOT_END_EFFECTOR_NONE

setEndEffector

public void setEndEffector(RobotEndEffector robotEndEffector)

Sets the robot's end effector. Does nothing if robot is currently operating.

Specified by:

setEndEffector in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Parameters:

robotEndEffector - new robot end effector. Valid values are:

RobotEndEffector.ROBOT_END_EFFECTOR_GRIPPER
RobotEndEffector.ROBOT_END_EFFECTOR_VACUUM_GRIPPER
RobotEndEffector.ROBOT_END_EFFECTOR_WELDING_GUN
RobotEndEffector.ROBOT_END_EFFECTOR_NONE

uninstallEndEffector

public void uninstallEndEffector()

isObstacle

public boolean isObstacle()

Returns true if this robot is considered an obstacle by transporters moving in free space mode. Otherwise, returns false.

Returns:: true if this robot is considered an obstacle by transporters moving in free space mode. Otherwise, returns false

setObstacle

public void setObstacle(boolean isObstacle)

Sets this robot as an obstacle for transporters moving in free space mode.

Parameters:: isObstacle - - if true, the robot is set as an obstacle. Otherwise, not.

isBlockedZoneEnabled

public boolean isBlockedZoneEnabled()

Returns true if the robot has enabled blocked zone and false otherwise.

Returns:: true if the robot has enabled blocked zone and false otherwise

setBlockedZoneEnabled

public void setBlockedZoneEnabled(boolean blockedZoneEnabled)

Enables the robot's blocked zone if the parameter is true and disables if false

getBlockedZoneStartAngle

public double getBlockedZoneStartAngle()

Returns the initial angle of the robot's blocked zone in radians.

Returns:: initial angle of the robot's blocked zone in radians

getBlockedZoneStartAngle

public double getBlockedZoneStartAngle(AngleUnits units)

Returns the initial angle of the robot's blocked zone.

Parameters:: units - - a constant defining the angle units
Returns:: initial angle of the robot's blocked zone in the specified units

setBlockedZoneStartAngle

public void setBlockedZoneStartAngle(double blockedZoneStartAngle)

Sets the initial angle of the robot's blocked zone in raidans.

Parameters:: angle - - the new initial angle of the robot's blocked zone

getBlockedZoneAngle

public double getBlockedZoneAngle()

Returns the delta angle of the robot's blocked zone in radians.

Returns:: delta angle of the robot's blocked zone in radians

getBlockedZoneAngle

public double getBlockedZoneAngle(AngleUnits units)

Returns the delta angle of the robot's blocked zone.

Parameters:: units - - a constant defining the angle units
Returns:: delta angle of the robot's blocked zone in the specified units

setBlockedZoneAngle

public void setBlockedZoneAngle(double blockedZoneAngle)

Sets the delta angle of the robot's blocked zone in radians.

Parameters:: angle - - the new delta angle of the robot's blocked zone

setBlockedZoneAngle

public void setBlockedZoneAngle(double angle,
 AngleUnits units)

Sets the delta angle of the robot's blocked zone in the specified angle units.

Parameters:: angle - - the new delta angle of the robot's blocked zone; units - - a constant defining the angle units

setBlockedZoneStartAngle

public void setBlockedZoneStartAngle(double angle,
 AngleUnits units)

Sets the initial angle of the robot's blocked zone in the specified units.

Parameters:: angle - - the new initial angle of the robot's blocked zone; units - - a constant defining the angle units

isFailed

@AnyLogicInternalLibraryAPI
public boolean isFailed()

Returns true if the robot is failed and false otherwise.

Specified by:: isFailed in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: true if the robot is failed and false otherwise

fail

@AnyLogicInternalLibraryAPI
public void fail()

Sets the robot to failed state

Specified by:: fail in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

repair

@AnyLogicInternalLibraryAPI
public void repair()

Repairs the robot from failed state

Specified by:: repair in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onFailed

@AnyLogicInternalLibraryAPI
public void onFailed()

Calls the robot's onFailed() callback code

Specified by:: onFailed in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onRepaired

@AnyLogicInternalLibraryAPI
public void onRepaired()

Calls the robot's onRepaired() callback code

Specified by:: onRepaired in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

setBlockedZone

public void setBlockedZone(double startAngle,
 double deltaAngle,
 AngleUnits units)

Sets the specified blocked zone of the robot in the specified angle units. Note that if the blocked zone is disabled, then it will be enabled by this method.

Parameters:: startAngle - - start angle of the robot's blocked zone; deltaAngle - - delta angle of the robot's blocked zone; units - - a constant defining the angle units

getAgent

public T getAgent()

Returns the agent, currently operated by robot, including the case when robot is moving to the agent. Returns null if there is no such agent;

Specified by:: getAgent in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

getAgentsInQueue

public List<T> getAgentsInQueue()

Returns list of agents, waiting for the robot. Ordered by priority (FIFO if priorities are equal)

Specified by:: getAgentsInQueue in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

getState

public RobotState getState()

Returns current robot state

Specified by:

getState in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Returns:

current robot state. Valid values are:

RobotState.IDLE
RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

getEndEffectorPosition

public Position getEndEffectorPosition()

Returns the position of the robot's end effector

Returns:: the Position object with coordinates and rotations of the robot's end effector

getEndEffectorVerticalRotation

public double getEndEffectorVerticalRotation()

Returns the vertical (along y axis) rotation of the end effector, in radians

Returns:: the vertical rotation of the end effector, in radians

getEndEffectorHorizontalRotation

public double getEndEffectorHorizontalRotation()

Returns the horizontal (along Z axis) rotation of the end effector, in radians

Returns:: the horizontal rotation of the end effector, in radians

onSeize

public void onSeize(T agent)

Calls the robot's onSeize() callback code

Specified by:: onSeize in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onRelease

public void onRelease(T agent)

Calls the robot's onRelease() callback code

Specified by:: onRelease in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onRobotMovementStart

public void onRobotMovementStart()

Calls the robot's onMovementStart() callback code

Specified by:: onRobotMovementStart in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onRobotMovementEnd

public void onRobotMovementEnd()

Calls the robot's onMovementFinished() callback code

Specified by:: onRobotMovementEnd in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onAgentProcessingStart

public void onAgentProcessingStart(T agent)

Calls the robot's onProcessStart() callback code

Specified by:: onAgentProcessingStart in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onAgentProcessingEnd

public void onAgentProcessingEnd(T agent)

Calls the robot's onProcessEnd() callback code

Specified by:: onAgentProcessingEnd in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

onRobotStateChanged

public void onRobotStateChanged(T agent,
 RobotState newState)

Calls the robot's onRobotStateChanged() callback code

Specified by:: onRobotStateChanged in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

getStatisticsStartTime

@AnyLogicInternalAPI
public double getStatisticsStartTime()

Specified by:: getStatisticsStartTime in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

resetStats

public void resetStats()

Resets the robot utilization statistics.

Specified by:: resetStats in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

getUtilization

public double getUtilization()

Returns the robot utilization: the fraction of time the robot was operating. The returned robot utilization value lies in the range [0..1].

Specified by:: getUtilization in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

timeInState

public double timeInState(RobotState robotState,
 TimeUnits timeUnits)

Returns time (in units) the robot spent in specified state since model start or since last resetStats() call

Specified by:

timeInState in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Parameters:

robotState - - robot state. Valid values are:

RobotState.IDLE
RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME

units - - time units for returned value

Returns:

time the robot spent in specified state

timeInState

public double timeInState(RobotState robotState)

Returns time (in model time units) the robot spent in specified state since model start or since last resetStats() call

Specified by:

timeInState in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Parameters:

robotState - - robot state. Valid values are:

RobotState.IDLE
RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME

units - - time units for returned value

Returns:

time the robot spent in specified state, in model time units

numberOfItemsProcessed

public int numberOfItemsProcessed()

Returns the number of items, transported or processed by the robot since model start or since last resetStats() call

Specified by:: numberOfItemsProcessed in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

averageCycleTime

public double averageCycleTime(TimeUnits timeUnits)

Returns average time that takes the robot to transport or process an agent, in time units

Specified by:: averageCycleTime in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: average time that takes the robot to transport or process an agent, in time units

averageCycleTime

public double averageCycleTime()

Returns average time that takes the robot to transport or process an agent, in model time units

Specified by:: averageCycleTime in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Returns:: average time that takes the robot to transport or process an agent, in model time units

move

public void move(PointNode node,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 RobotState state,
 double safeHeight)

Starts movement to place attached agent (if exists) or robot end effector in the target node.

Parameters:

node - - target node

endEffectorApproaches - - defines positioning of the end effector of the robot

time - - movement time in specified time units

timeUnits - - the time units

state - - robot will be in this state during movement.Valid values are:

RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

RobotState.IDLE will be automatically replaced with MOVING_IDLE.

safeHeight - - robot will move above the specified height (in meters) if possible

move

public void move(T agent,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 RobotState state,
 double safeHeight)

Starts movement to place robot end effector at the target agent in position for pickup.

Specified by:

move in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Parameters:

agent - - target agent

endEffectorApproaches - - defines positioning of the end effector of the robot

time - - movement time in specified time units

timeUnits - - the time units

state - - robot will be in this state during movement.Valid values are:

RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

RobotState.IDLE will be automatically replaced with MOVING_IDLE.

safeHeight - - robot will move above the specified height (in meters) if possible

move

public void move(Point point,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 RobotState state,
 double safeHeight)

Starts movement to place attached agent (if exists) or robot end effector in the target point.

Specified by:

move in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Parameters:

point - - target point

endEffectorApproaches - - defines positioning of the end effector of the robot

time - - movement time in specified time units

timeUnits - - the time units

state - - robot will be in this state during movement.Valid values are:

RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

RobotState.IDLE will be automatically replaced with MOVING_IDLE.

safeHeight - - robot will move above the specified height (in meters) if possible

move

public void move(PointNode node,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 RobotState state)

Starts movement to place attached agent (if exists) or robot end effector in the target node.

Parameters:

node - - target node

endEffectorApproaches - - defines positioning of the end effector of the robot

time - - movement time in specified time units

timeUnits - - the time units

state - - robot will be in this state during movement.Valid values are:

RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

RobotState.IDLE will be automatically replaced with MOVING_IDLE.

move

public void move(T agent,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 RobotState state)

Starts movement to place robot end effector at the target agent in position for pickup.

Parameters:

agent - - target agent

endEffectorApproaches - - defines positioning of the end effector of the robot

time - - movement time in specified time units

timeUnits - - the time units

state - - robot will be in this state during movement.Valid values are:

RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

RobotState.IDLE will be automatically replaced with MOVING_IDLE.

move

public void move(Point point,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 RobotState state)

Starts movement to place attached agent (if exists) or robot end effector in the target point.

Parameters:

point - - target point

endEffectorApproaches - - defines positioning of the end effector of the robot

time - - movement time in specified time units

timeUnits - - the time units

state - - robot will be in this state during movement.Valid values are:

RobotState.MOVING_TO_AGENT
RobotState.TRANSPORTING
RobotState.PROCESSING
RobotState.MOVING_HOME
RobotState.MOVING_IDLE

RobotState.IDLE will be automatically replaced with MOVING_IDLE.

move

public void move(PointNode node,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 double safeHeight)

Starts movement to place attached agent (if exists) or robot end effector in the target node.

Parameters:: node - - target node; endEffectorApproaches - - defines positioning of the end effector of the robot; time - - movement time in specified time units; timeUnits - - the time units; safeHeight - - robot will move above the specified height (in meters) if possible

move

public void move(T agent,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 double safeHeight)

Starts movement to place robot end effector at the target agent in position for pickup.

Parameters:: agent - - target agent; endEffectorApproaches - - defines positioning of the end effector of the robot; time - - movement time in specified time units; timeUnits - - the time units; safeHeight - - robot will move above the specified height (in meters) if possible

move

public void move(Point point,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits,
 double safeHeight)

Starts movement to place attached agent (if exists) or robot end effector in the target point.

Parameters:: point - - target point; endEffectorApproaches - - defines positioning of the end effector of the robot; time - - movement time in specified time units; timeUnits - - the time units; safeHeight - - robot will move above the specified height (in meters) if possible

move

public void move(PointNode node,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits)

Starts movement to place attached agent (if exists) or robot end effector in the target node.

Parameters:: node - - target node; endEffectorApproaches - - defines positioning of the end effector of the robot; time - - movement time in specified time units; timeUnits - - the time units

move

public void move(T agent,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits)

Starts movement to place robot end effector at the target agent in position for pickup.

Parameters:: agent - - target agent; endEffectorApproaches - - defines positioning of the end effector of the robot; time - - movement time in specified time units; timeUnits - - the time units

move

public void move(Point point,
 RobotApproachType endEffectorApproaches,
 double time,
 TimeUnits timeUnits)

Starts movement to place attached agent (if exists) or robot end effector in the target point.

Parameters:: point - - target point; endEffectorApproaches - - defines positioning of the end effector of the robot; time - - movement time in specified time units; timeUnits - - the time units

attachAgentAnimation

public void attachAgentAnimation(T agent)

Attaches agent animation to the robot end effector to perform agent transporting by the robot with move() command. Should be called only if robot is not moving. Only one agent animation can be attached at a time.

Specified by:: attachAgentAnimation in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>
Parameters:: agent - - target agent

detachAgentAnimation

public void detachAgentAnimation()

Detaches previously attached agent animation from the robot end effector. Should be called only if robot is not moving.

Specified by:: detachAgentAnimation in interface com.anylogic.engine.markup.material_handling.IRobotDescriptor<T extends Agent>

Class Robot<T extends Agent>

Field Summary

Fields inherited from interface com.anylogic.engine.presentation.UsdElement

Constructor Summary

Method Summary

Methods inherited from class com.anylogic.engine.markup.AbstractLevelMarkup

Methods inherited from class com.anylogic.engine.markup.MarkupShape

Methods inherited from class com.anylogic.engine.markup.AbstractMarkup

Methods inherited from class java.lang.Object

Methods inherited from interface com.anylogic.engine.markup.AggregatableAnimationElement

Methods inherited from interface com.anylogic.engine.markup.material_handling.IMaterialMarkupLibraryDescriptor

Constructor Details

Robot

Robot

Method Details

getX

getY

getZ

getXYZ

setX

setY

setZ

setXYZ

setGripperWidth

contains

getVacuumGripperHeightInPixels

getInitialEndEffectorX

setInitialEndEffectorX

getInitialEndEffectorY

setInitialEndEffectorY

getInitialEndEffectorZ

setInitialEndEffectorZ

getLinksLength

getLinksLength

setLinksLength

setLinksLength

getLibraryDescriptor

getLinksColor

setEndEffectorColor

getEndEffectorColor

setLinksColor

getLinkEnd

getLinkRotations

canReach

canReach

getMaxArmReach

getMaxArmReach

setMaxArmReach

setMaxArmReach

getGripperLength

getGripperLength

setGripperLength

setGripperLength

getVacuumGripperLength

getVacuumGripperLength

setVacuumGripperLength

setVacuumGripperLength

getVacuumGripperWidth

getVacuumGripperWidth

setVacuumGripperWidth

setVacuumGripperWidth

getWeldingGunLength

getWeldingGunLength

setWeldingGunLength

setWeldingGunLength

getEndEffector

setEndEffector

uninstallEndEffector

isObstacle

setObstacle

isBlockedZoneEnabled

setBlockedZoneEnabled

getBlockedZoneStartAngle

getBlockedZoneStartAngle

setBlockedZoneStartAngle

getBlockedZoneAngle

getBlockedZoneAngle

setBlockedZoneAngle

setBlockedZoneAngle

setBlockedZoneStartAngle