Uses of Class
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort

Packages that use OutPort

com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.api	Contains the necessary objects to work with Sunrise.
com.kuka.roboticsAPI.controllerModel.sunrise.mapping	Contains the sunrise specific mapping algorithms, that convert RoboticsAPI objects to a series of SPRs.
com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds	Contains predefined compounds for Sunrise.

Uses of OutPort in com.kuka.roboticsAPI.controllerModel.sunrise

Methods in com.kuka.roboticsAPI.controllerModel.sunrise that return OutPort

OutPort	ISunriseSensorModuleConfig.getCurrentSensorValues() Return the OutPort of the module, which provides the current transformation for the dynamic transformation provider.
OutPort	ISunriseSensorModuleConfig.getExpectedSensorValues() Return the OutPort of the module, which provides the expected transformation for the dynamic transformation provider.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type OutPort

static void

SPRUtilities.twoInOneAssignment(SPR spr, InPort destinationPort, OutPort translationSourcePort, OutPort rotationSourcePort) Assigns translation and orientation parts of a matrix inports from two different outports.

Uses of OutPort in com.kuka.roboticsAPI.controllerModel.sunrise.api

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api that return OutPort

OutPort	SPRComponent.addOutPort(OutPort port) Adds a outport to this compound.
OutPort	SPRComponent.addOutPort(String name) Adds a outport to this compound.
OutPort	FrameDefinitionList.getGraphOutport(String name) Gets the graph outport with the specified name.
OutPort	DynamicFrameSetting.getOutPort() Gets the outport assigned to this dynamic frame setting.
OutPort	Assignment.getOutPort() Gets the outport of the assignment.
OutPort	SPRComponent.getOutPort(String name) Gets the outport with the specified name.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api that return types with arguments of type OutPort

List<OutPort>	SPRComponent.getOutPorts() Gets the outports of this compound.
Map<Integer,OutPort>	ReturnValues.getRegisteredPorts() Gets all registered outports.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api with parameters of type OutPort

Assignment	SPR.addAssignment(InPort inport, OutPort outport) Adds an assignment to this SPR.
DynamicFrameSetting	FrameDefinitionList.addFrameSetting(String referenceFrame, OutPort port, String targetFrame) Adds a dynamic frame setting to the frame definitions of the SPR.
Assignment	SPR.addInterSprAssignment(InPort inport, OutPort outport) Adds assignment between ports belonging to compounds from different SPRs.
Assignment	SPR.addLooseAssignment(InPort inport, OutPort outport) Adds an intercyclic (loose) assignment to this SPR.
OutPort	SPRComponent.addOutPort(OutPort port) Adds a outport to this compound.
SelectiveAssignment	SPR.addSelectiveAssignment(int selectionLevel, InPort inport, OutPort outport) Adds an selective assignment to this SPR.
Object	ReturnValues.getValue(OutPort port, SPRState state) Gets the latest value of a port for a given state.
void	SPR.registerForReturnValues(OutPort port) Registers the given port as return value of this SPR.
void	SPR.registerForReturnValues(OutPort port, Object value) Registers the given port as return value of this SPR.
boolean	SPR.registerForReturnValuesIfUnregistered(OutPort port, Object value) Registers the given port as return value of this SPR.
void	DynamicFrameSetting.setOutPort(OutPort port) Sets the outport assigned to this dynamic frame setting.
void	Assignment.setOutPort(OutPort port) Sets the given port as new outport.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.api with parameters of type OutPort

Assignment(InPort inport, OutPort outport)
Creates a new assignment, implicitly creating a strict assignment, contrary to a loose assignment.

Assignment(InPort inport, OutPort outport, boolean isloose)
Creates a new assignment, explicitly stating looseness.

DynamicFrameSetting(String referenceName, OutPort outport, String targetName)
Creates a new DynamicFrameSetting instance.

SelectiveAssignment(int selectionLevel, InPort inport, OutPort outport)
Creates a new selective assignment.

Uses of OutPort in com.kuka.roboticsAPI.controllerModel.sunrise.mapping

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping that return OutPort

OutPort	ForceMappingInformation.getForcePort() Returns the force DFE.
protected static OutPort	RobotMapper.getObserverAlphaOutport(Robot robot, RobotObserver observer) Gets the alpha output port of the observer depending on the last motion.
protected static OutPort	RobotMapper.getObserverCartPositionOutport(Robot robot, RobotObserver observer) Gets the cartesian position output port of the observer depending on the last motion.
OutPort	ForceMappingInformation.getVariancePort() Returns the variance DFE.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type OutPort

static void	StopMotionMappingHelper.addStopEvaluatorAssignments(StopEvaluatorModule stopEvaluatorModule, SPR spr, Controller controller, OutPort axisQCmd, OutPort ipoStopped, int jointCount) Adds the assignment for the StopEvaluatorModule to the specified ports.
static void	StopMotionMappingHelper.addStopEvaluatorAssignmentsForSimulinkCompounds(StopEvaluatorModule stopEvaluatorModule, SPR spr, Controller controller, OutPort axisQCmd, OutPort ipoStopped, int jointCount, boolean ipoStoppedIn) Adds the assignment for the StopEvaluatorModule to the specified ports for Simulink Compounds.

Uses of OutPort in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds that return OutPort

protected OutPort	RemoteModule.addOutPort(String name, ISerializableType value) Adds an outport to this module.
OutPort	DFEStatisticModule.addStatisticPort(DFEStatisticModule.OutPortType type) Adds the output port to the module according to specified port type.
OutPort	GenericIOModule.configureIoValue(String fullyQualifiedIoName, boolean isOutput) Configure the IO value.
OutPort	GenericIOModule.configureIoValue(String groupName, String inOutName, boolean isOutput) Configure the IO value.
OutPort	VelAccEstimatorModule.getAccelerationOut() Get the acceleration out port.
OutPort	SplineMotionModule.getActiveIpoIdOut()
OutPort	OnlinePlanner.getAlphaOutport() Alpha outport.
OutPort	ForwardKinematicsModule.getAlphaOutport() The alpha outport.
OutPort	ApplicationStateModule.getApplicationStateOut()
OutPort	RobotObserver.getAreAllAxesMastered() Returns the outport containing the mastering state of all axes.
OutPort	RobotObserver.getAreAxesMastered() Returns the outport containing the mastering state of axes.
OutPort	IpoFilter.getAxCmd()
OutPort	SplineMotionModule.getAxCmdOut()
OutPort	OverrideMappingHelper.getAxCmdOut()
OutPort	RobotObserver.getAxisCtrlMode() Returns the axisCtrlModeT1m OutPort.
OutPort	TorqueCharLineModule.getAxisGmsTorqueLimitsArr() Contains Torque limits which is the minimum of torque sensor Limit and gear characteristic line limit.
OutPort	ElasticityCompensationModule.getAxisQAccCmdEKOAb()
OutPort	MeasureToCommandModule.getAxisQCmd()
OutPort	ElasticityCompensationModule.getAxisQCmdEKOAb()
OutPort	ElasticityCompensationModule.getAxisQCmdEKOAn()
OutPort	ElasticityCompensationModule.getAxisQCmdEKODelta()
OutPort	ElasticityCompensationModule.getAxisQSpeedCmdEKOAb()
OutPort	ElasticityCompensationModule.getAxisQSpeedCmdEKOAn()
OutPort	RobotObserver.getAxisQSpeedMsr() Returns the joint outport for the measured velocity.
OutPort	RobotObserver.getAxisTauCmdT1m() Returns the axisTauCmdT1m OutPort.
OutPort	RobotObserver.getAxisTauGravMdl() Returns the outport for the model torque.
OutPort	ElasticityCompensationModule.getAxisTorqueCmd()
OutPort	BrakeTestPipe.getBrakeConditionOutPort() Returns the brake condition outport.
OutPort	SafetySignalObs.getCartesianVelocityLimitOutPort() Gets the OutPort for the Cartesian Velocity Limit.
OutPort	SplineMotionModule.getCartPosCmdOut()
OutPort	FrameStackerModule.getCartPoseFrmOut1() The port that will contain a SerializableTransformationMatrix that contains (Ori1 Pos2).
OutPort	FrameStackerModule.getCartPoseFrmOut2() The port that will contain a SerializableTransformationMatrix that contains (Ori2 Pos1).
OutPort	StopEvaluatorModule.getCloseBrakesOut()
OutPort	RobotObserver.getCommandedAlphaOutport() Returns the alpha outport of the pipe which contains the commanded alpha.
OutPort	RobotObserver.getCommandedCartPositionOutport() Returns the cartesian outport of the pipe which contains the commanded cartesian position.
OutPort	RobotObserver.getCommandedJointOutport() Returns the joint outport of the pipe which contains the commanded joint position.
OutPort	RobotObserver.getCommandedStatusOutport() Returns the status outport of the pipe which contains the commanded status.
OutPort	RobotObserver.getCommandedTurnOutport() Returns the turn outport of the pipe which contains the commanded turn.
OutPort	FrameDistanceCalculator.getCurrentDistance() The port that will contain a double value which is the current Euclidian distance between target and current position.
OutPort	NewJointSplineModule.getCurrRelOutport() Gets the outport containing the current position on the path.
OutPort	JointSplineModule.getCurrRelOutport() Gets the outport containing the current position on the path.
OutPort	ApplicationStateModule.getEffectiveOverrideOut()
OutPort	RobotObserver.getErrStateDrives() Returns the outport containing an combined error state of the drives.
OutPort	RobotObserver.getExtMeasuredJointTorqueOutport() Returns the joint outport of the pipe which contains the measured and adjusted joint torque.
OutPort	RobotObserver.getFeedlockState() Returns the outport containing the lock state of axes.
OutPort	CartesianVelocityLimiter.getFinishNowOut()
OutPort	RobotObserver.getForceVarianceOutport() Returns the force variance outport of the pipe which contains the measured and adjusted force variance.
OutPort	ForwardKinematicsModule.getFrameOutport() Gets the outport containing the calculated cartesian position.
OutPort	MeasureToCommandModule.getIpoStopped()
OutPort	SplineMotionModule.getIpoStoppedOut()
OutPort	MeasureToCommandModule.getIsCmdSet()
OutPort	FrameDistanceCalculator.getIsNear() The port that will contain a bool value which becomes true if the length of the currentFrameTrafo vector goes below the threshold value given during the initialization of the module.
OutPort	InverseKinematicsModule.getIsValidOutPort() Gets the port which contains the value to describe if the inv kin is valid.
OutPort	AxisValidatorModule.getIsValidOutPort() Gets the port which contains the flag which indicates if the new values were valid.
OutPort	NewJointSplineModule.getJointOutport() Gets the outport containing the joint values of the spline.
OutPort	JointSplineModule.getJointOutport() Gets the outport containing the joint values of the spline.
OutPort	ForwardKinematicsModule.getJointOutport() Gets the joint outport which copies the values from the joint parameter to the joint outport.
OutPort	InverseKinematicsModule.getJointOutPort() Gets the outport which contains the result of the inverse kinematics.
OutPort	SplineMotionModule.getLoadOut()
OutPort	RobotObserver.getMeasuredAlphaOutport() Returns the alpha outport of the pipe which contains the measured alpha.
OutPort	RobotObserver.getMeasuredCartPositionOutport() Returns the cartesian outport of the pipe which contains the measured cartesian position.
OutPort	RobotObserver.getMeasuredForceOutport() Returns the force outport of the pipe which contains the measured and adjusted force.
OutPort	RobotObserver.getMeasuredJointOutport() Returns the joint outport of the pipe which contains the measured joint position.
OutPort	RobotObserver.getMeasuredJointTorqueOutport() Returns the joint outport of the pipe which contains the measured joint torque.
OutPort	RobotObserver.getMeasuredStatusOutport() Returns the status outport of the pipe which contains the measured status.
OutPort	RobotObserver.getMeasuredTurnOutport() Returns the turn outport of the pipe which contains the measured turn.
OutPort	SplineMotionModule.getMotionFinishedOut()
OutPort	OnlinePlanner.getNewRobotPositionOutport() Gets the outport containing the new robot position.
<T> OutPort	FreezeModule.getNextParameterPortFrame(T value) Creates and gets the next frame pair of this freeze where input element is a parameter (instead of a port) and output element is port.
OutPort	GlobalDataServiceModule.getOperationMode()
OutPort	SplineMotionModule.getOverrideActOut()
OutPort	OverrideMappingHelper.getOverrideActOut()
OutPort	GlobalDataServiceModule.getOverrideCmdOutport() Gets the port containing the commanded override.
OutPort	CartesianVelocityLimiter.getOvOut()
OutPort	SplineMotionModule.getPathTriggersOut()
OutPort	VelAccEstimatorModule.getPositionOut() Get the position out port.
OutPort	SplineMotionModule.getSActOut()
OutPort	GlobalDataServiceModule.getSafetyStopRequest()
OutPort	CartesianVelocityLimiter.getSpeedExceeded()
OutPort	GlobalDataServiceModule.getSRSystemTime() Gets the port containing the system time.
OutPort	ForwardKinematicsModule.getStatusOutport() The status outport.
OutPort	ElasticityCompensationModule.getStiffness()
OutPort	StopEvaluatorModule.getStopMotionRequestOut()
OutPort	SplineMotionModule.getStopMotionRequestOut()
OutPort	MeasureToCommandModule.getStopMotionRequestOut()
OutPort	ApplicationStateModule.getStopMotionRequestOut()
OutPort	SplineMotionModule.getTActOut()
OutPort	JointVelocityModule.getTCurrRel() Port for reporting progress.
OutPort	CartesianVelocityModule.getTCurrRel() Port for reporting progress.
OutPort	MeasureToCommandModule.getTimeInActive()
OutPort	OldOverrideModule.getTimeOutport() Gets the outport bringing in the time for this module.
OutPort	MeasureToCommandModule.getTool()
OutPort	SplineMotionModule.getToolOut()
OutPort	TorqueCharLineModule.getTorqueLimitExceededMask() The port containing flags for each axis indicating whether torque limits.
OutPort	AxisValidatorModule.getValidatedValuesOutPort() Gets the port containing the validated values (old or new ones).
OutPort	JointVelocityModule.getVelocitiesOutport() Gets the joint velocities outport.
OutPort	CartesianVelocityModule.getVelocitiesOutport() Gets the joint velocities outport.
OutPort	VelAccEstimatorModule.getVelocityOut() Get the velocity out port.
OutPort	GlobalDataServiceModule.getVoEnableState()
OutPort	RemoteModule.getWatchdogAlarm() Gets the watchdog outport for this remote module to make assignments.
OutPort	TwistWrenchTrafoModule.getWrench1OutPort() Gets the transformed wrench1 outport.
OutPort	TwistWrenchTrafoModule.getWrench2OutPort() Gets the transformed wrench2 outport.
OutPort	ForceFunctionGeneratorModule.getWrenchCmdOutPort() Gets the port containing the commanded force.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds that return types with arguments of type OutPort

com.kuka.common.Pair<InPort,OutPort>	FreezeModule.getNextDoublePair() Gets the next double pair of this freezer.
com.kuka.common.Pair<InPort,OutPort>	FreezeModule.getNextFramePair() Gets the next frame pair of this freezer.
com.kuka.common.Pair<InPort,OutPort>	FreezeModule.getNextIntPair() Gets the next integer pair of this freezer.
com.kuka.common.Pair<InPort,OutPort>	FreezeModule.getNextJointsPair() Gets the next joints pair of this freezer.