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

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.PipeWithControlMode
              com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.JointSpacePipe

All Implemented Interfaces:

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

public class JointSpacePipe
extends PipeWithControlMode

This pipe is able to perform a motion in joint space for the three motion control types PositionControl, JointImpedance and CartesianImpedance.

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.

Field Summary

static String	AXIS_Q_ACC_CMD String identifier for the joint acceleration command.
static String	AXIS_Q_SPEED_CMD String identifier for the joint velocity command.
static String	AXIS_QCMD String identifier for the joint position command.
static String	AXIS_TAUCTLCMD String identifier for additional commanded torques.

Fields inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

FINISH_MAINTAINING, STOP_REQUEST

Constructor Summary

JointSpacePipe()
Creates a new instance of the joint space pipe.

Method Summary

InPort	getAxisQAccCmdInPort() Gets the (optional) joint acceleration inport of the pipe.
InPort	getAxisQCmdInPort() Gets the joint inport of the pipe.
InPort	getAxisQSpeedCmdInPort() Gets the (optional) joint velocity inport of the pipe.
InPort	getTauControlInPort() Gets the tau control inport of the pipe.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.PipeWithControlMode

getControlMode, setControlMode

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

getAlias, getComponentType, getComponentVersion, getDebug, getFinishMaintainingInport, getInstanceName, getMaintainTimeout, getPipeName, getStopRequest, hasSameDataAs, setAlias, setInstanceName, setMaintainTimeout, setPipeName

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, onAsyncEvent, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

AXIS_QCMD

public static final String AXIS_QCMD

String identifier for the joint position command.

See Also:

Constant Field Values

AXIS_Q_SPEED_CMD

public static final String AXIS_Q_SPEED_CMD

String identifier for the joint velocity command.

See Also:

Constant Field Values

AXIS_Q_ACC_CMD

public static final String AXIS_Q_ACC_CMD

String identifier for the joint acceleration command.

See Also:

Constant Field Values

AXIS_TAUCTLCMD

public static final String AXIS_TAUCTLCMD

String identifier for additional commanded torques.

See Also:

Constant Field Values

Constructor Detail

JointSpacePipe

public JointSpacePipe()

Creates a new instance of the joint space pipe.

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

getAxisQCmdInPort

public InPort getAxisQCmdInPort()

Gets the joint inport of the pipe.

Returns:

The joint inport of the pipe.

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.

getAxisQSpeedCmdInPort

public InPort getAxisQSpeedCmdInPort()

Gets the (optional) joint velocity inport of the pipe.

Returns:

The joint velocity inport of the pipe.

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.

getAxisQAccCmdInPort

public InPort getAxisQAccCmdInPort()

Gets the (optional) joint acceleration inport of the pipe.

Returns:

The joint acceleration inport of the pipe.

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.

getTauControlInPort

public InPort getTauControlInPort()

Gets the tau control inport of the pipe.

Returns:

The tau control inport of the pipe.

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.