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

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

All Implemented Interfaces:

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

public class FrameStackerModule
extends Module

Interface class for the Sunrise FrameStacker module.

The module stacks two 3x4 Frames such that:

cartPoseFrmIn1 = (Ori1 Pos1)
cartPoseFrmIn2 = (Ori2 Pos2)

cartPoseFrmOut1 = (Ori1 Pos2)
cartPoseFrmOut2 = (Ori2 Pos1)

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

FrameStackerModule()
Creates a new instance.

Method Summary

InPort	getCartPoseFrmIn1() The port expecting a SerializableTransformationMatrix that contains (Ori1 Pos1).
InPort	getCartPoseFrmIn2() The port expecting a SerializableTransformationMatrix that contains (Ori2 Pos2).
OutPort	getCartPoseFrmOut1() The port that will contain a SerializableTransformationMatrix that contains (Ori1 Pos2).
OutPort	getCartPoseFrmOut2() The port that will contain a SerializableTransformationMatrix that contains (Ori2 Pos1).

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

FrameStackerModule

public FrameStackerModule()

Creates a new instance.

Method Detail

getCartPoseFrmIn1

public InPort getCartPoseFrmIn1()

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

Returns:

the in port

getCartPoseFrmIn2

public InPort getCartPoseFrmIn2()

The port expecting a SerializableTransformationMatrix that contains (Ori2 Pos2).

Returns:

the in port

getCartPoseFrmOut1

public OutPort getCartPoseFrmOut1()

The port that will contain a SerializableTransformationMatrix that contains (Ori1 Pos2).

Returns:

the out port

getCartPoseFrmOut2

public OutPort getCartPoseFrmOut2()

The port that will contain a SerializableTransformationMatrix that contains (Ori2 Pos1).

Returns:

the out port