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

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

All Implemented Interfaces:

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

public class JointSplineModule
extends Module

The module is able to do blended joint motions.

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

JointSplineModule(Robot robot)
Creates a new joint spline module.

Method Summary

void	addSplineSegment(double velocityIn, double accelerationIn, double blending, boolean isRelative, double[] destination) Adds a single ptp spline segment to this spline.
OutPort	getCurrRelOutport() Gets the outport containing the current position on the path.
OutPort	getJointOutport() Gets the outport containing the joint values of the spline.
InPort	getStartPositionInport() Gets the inport which must be connected with the current robot position.
InPort	getTimeInport() Gets the inport for changing the program override.
protected void	onSerialization() Called when the SPR in which this compound is added, is serialized.

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, 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

JointSplineModule

public JointSplineModule(Robot robot)

Creates a new joint spline module.

Parameters:

robot - The robot that moves.

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

addSplineSegment

public void addSplineSegment(double velocityIn,
                             double accelerationIn,
                             double blending,
                             boolean isRelative,
                             double[] destination)

Adds a single ptp spline segment to this spline.

Parameters:

velocityIn - The velocity.

blending - The blending distance.

accelerationIn - The acceleration.

destination - The destination.

isRelative - Describes if the destination is a relative destination, 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.

onSerialization

protected void onSerialization()

Description copied from class: SPRComponent

Called when the SPR in which this compound is added, is serialized.

Overrides:

onSerialization in class SPRComponent

getJointOutport

public OutPort getJointOutport()

Gets the outport containing the joint values of the spline.

Returns:

The outport containing the joint values of the spline.

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.

getCurrRelOutport

public OutPort getCurrRelOutport()

Gets the outport containing the current position on the path.

Returns:

The outport containing the current position on the path.

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.

getTimeInport

public InPort getTimeInport()

Gets the inport for changing the program override.

Returns:

The inport for changing the program override.

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.

getStartPositionInport

public InPort getStartPositionInport()

Gets the inport which must be connected with the current robot position.

Returns:

The inport which must be connected with the current robot 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.