com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds
Class CartesianVelocityModule

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.RemoteModule
              com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.CartesianVelocityModule

All Implemented Interfaces:

com.kuka.common.events.IEventListener, com.kuka.common.IDataEquatable, IExpressionSegment, ISprComponent, ISPRStateListener, IMessageHandler, ISegment

public class CartesianVelocityModule
extends RemoteModule

Proxy module for the velocity controlled cartesian movement. Allows to send the velocity command values direct to the controller.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.RemoteModule

ERROR, READYFORNEXTSTATE, SUCCESS

Constructor Summary

CartesianVelocityModule(SPR spr, Controller controller, VelocityControlledCartesianMotion motion)
Initializes the instance of the JointVelocityModule class.

Method Summary

protected int	active() Called when the SPR is in Active.
OutPort	getTCurrRel() Port for reporting progress.
OutPort	getVelocitiesOutport() Gets the joint velocities outport.
protected void	step() Updates output Port based on input Port and data source.
protected int	tuning() Called when the SPR is in Tuning.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.RemoteModule

addInPort, addOutPort, connectionLost, getCycleRate, getWatchdogAlarm, getWatchdogTolerance, handleMessage, isFailOnCycleRateExceed, maintaining, needsMaintaining, needsMaintaining, onSerialization, onSPRStateChanged, setCycleRate, setFailOnCycleRateExceed, setWatchdogTolerance, tuningFinished

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

getComponentType, getComponentVersion

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getInstanceName, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, hasSameDataAs, onAsyncEvent, onFinished, onInitialize, onSPRStateChanged, onSPRStateChangedSync, setInstanceName, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

CartesianVelocityModule

public CartesianVelocityModule(SPR spr,
                               Controller controller,
                               VelocityControlledCartesianMotion motion)

Initializes the instance of the JointVelocityModule class.

Parameters:

spr - The SPR in which this module is contained.

controller - The controller to which the command will be sent.

motion - The motion.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Detail

getVelocitiesOutport

public OutPort getVelocitiesOutport()

Gets the joint velocities outport.

Returns:

the joint velocities outport.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

tuning

protected int tuning()

Description copied from class: RemoteModule

Called when the SPR is in Tuning.

Overrides:

tuning in class RemoteModule

Returns:

ReadyForNextState if SPR is ready for active, Success otherwise or Error.

active

protected int active()

Description copied from class: RemoteModule

Called when the SPR is in Active.

Overrides:

active in class RemoteModule

Returns:

Success otherwise or Error.

step

protected void step()

Updates output Port based on input Port and data source.

getTCurrRel

public OutPort getTCurrRel()

Port for reporting progress. Here used just for stop condition.

Returns:

TCurrRel outport.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.