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

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

All Implemented Interfaces:

com.kuka.common.IDataEquatable, IExpressionSegment, ISprComponent, ISegment

public class ForceFunctionGeneratorModule
extends Module

Performs Sinusoidal Wave Patterns with free Bias, Frequency, Trapezoidal Amplitude pattern.

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.

Constructor Summary

ForceFunctionGeneratorModule()
Creates a new instance of the force function generator module.

Method Summary

void	configure(CartesianSineImpedanceControlMode controlMode) Configures this module with the given mode.
OutPort	getWrenchCmdOutPort() Gets the port containing the commanded force.

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, onSerialization, 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

ForceFunctionGeneratorModule

public ForceFunctionGeneratorModule()

Creates a new instance of the force function generator module.

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

getWrenchCmdOutPort

public OutPort getWrenchCmdOutPort()

Gets the port containing the commanded force.

Returns:

The port containing the commanded force.

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.

configure

public void configure(CartesianSineImpedanceControlMode controlMode)

Configures this module with the given mode.

Parameters:

controlMode - The control mode.

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.