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

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

All Implemented Interfaces:

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

public class FrameDistanceCalculator
extends Module

Interface class for the Sunrise Frame Distance Calculator module in the RoboticsAPI. The module evaluates whether the calculated distance (the length of the input transformation matrix) is below a threshold value or not.

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

FrameDistanceCalculator()
Creates a new instance.

Method Summary

OutPort	getCurrentDistance() The port that will contain a double value which is the current Euclidian distance between target and current position.
InPort	getCurrentFrameTrafo() The port expecting a SerializableTransformationMatrix that contains (Ori1 Pos1).
InPort	getCurrentOrientationTrafo() The port expecting a SerializableTransformationMatrix that contains (Ori1 Pos1).
OutPort	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.

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

FrameDistanceCalculator

public FrameDistanceCalculator()

Creates a new instance.

Method Detail

getCurrentFrameTrafo

public InPort getCurrentFrameTrafo()

The port expecting a SerializableTransformationMatrix that contains (Ori1 Pos1).

Returns:

The _currentDistanceTrafo InPort.

getCurrentOrientationTrafo

public InPort getCurrentOrientationTrafo()

The port expecting a SerializableTransformationMatrix that contains (Ori1 Pos1).

Returns:

The _currentOrientationTrafo InPort.

getIsNear

public OutPort 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.

Returns:

The _isNear OutPort.

getCurrentDistance

public OutPort getCurrentDistance()

The port that will contain a double value which is the current Euclidian distance between target and current position.

Returns:

The _currentDistance OutPort.