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

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

All Implemented Interfaces:

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

public class ForwardKinematicsModule
extends Module

This module calculates the direct kinematics for a given joint position.

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

ForwardKinematicsModule()
Creates a new direct kinematics module.

Method Summary

OutPort	getAlphaOutport() The alpha outport.
OutPort	getFrameOutport() Gets the outport containing the calculated cartesian position.
OutPort	getJointOutport() Gets the joint outport which copies the values from the joint parameter to the joint outport.
OutPort	getStatusOutport() The status outport.
void	setJointConfiguration(JointPosition joints) Sets the joint position which should be transformed into a cartesian position.

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

ForwardKinematicsModule

public ForwardKinematicsModule()

Creates a new direct kinematics 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

getFrameOutport

public OutPort getFrameOutport()

Gets the outport containing the calculated cartesian position.

Returns:

The outport containing the calculated cartesian position.

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.

getStatusOutport

public OutPort getStatusOutport()

The status outport.

Returns:

The status 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.

setJointConfiguration

public void setJointConfiguration(JointPosition joints)

Sets the joint position which should be transformed into a cartesian position.

Parameters:

joints - The joint position which should be transformed into a cartesian position.

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.

getAlphaOutport

public OutPort getAlphaOutport()

The alpha outport.

Returns:

The alpha 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.

getJointOutport

public OutPort getJointOutport()

Gets the joint outport which copies the values from the joint parameter to the joint outport.

Returns:

The joint outport which copies the values from the joint parameter to the joint 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.