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

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

All Implemented Interfaces:

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

public class InverseKinematicsModule
extends Module

Inverse 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.

Constructor Summary

InverseKinematicsModule()
Creates a new inverse kinematics module.

Method Summary

InPort	getAlphaInport() Gets the alpha inport for the kinematic (TODO this is device specific!).
InPort	getFrameInPort() Gets the inport to which the frame is connected, which should be transformed into joint positions.
OutPort	getIsValidOutPort() Gets the port which contains the value to describe if the inv kin is valid.
InPort	getJointInPort() Gets the inport which contains the joint configuration which will be chosen if the inverse kinematics is in a singularity and needs more information.
OutPort	getJointOutPort() Gets the outport which contains the result of the inverse kinematics.

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

InverseKinematicsModule

public InverseKinematicsModule()

Creates a new inverse 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

getFrameInPort

public InPort getFrameInPort()

Gets the inport to which the frame is connected, which should be transformed into joint positions.

Returns:

The inport to which the frame is connected, which should be transformed into joint positions.

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 outport which contains the result of the inverse kinematics.

Returns:

The outport which contains the result of the inverse kinematics.

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.

getAlphaInport

public InPort getAlphaInport()

Gets the alpha inport for the kinematic (TODO this is device specific!).

Returns:

The alpha inport for the kinematic.

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.

getJointInPort

public InPort getJointInPort()

Gets the inport which contains the joint configuration which will be chosen if the inverse kinematics is in a singularity and needs more information.

Returns:

The inport which contains the joint configuration which will be chosen if the inverse kinematics is in a singularity and needs more information.

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.

getIsValidOutPort

public OutPort getIsValidOutPort()

Gets the port which contains the value to describe if the inv kin is valid.

Returns:

The port which contains the value to describe if the inv kin is valid.

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.