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

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

All Implemented Interfaces:

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

public final class LBRCartVelValidator
extends Module

Module for monitoring the T1 velocity.

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

LBRCartVelValidator()
Creates a new LbrT1Validator Module.

Method Summary

InPort	getAxisQCmd() Get the axisQCmd InPort.
InPort	getAxisQMsr() Get the axisQMsr InPort.
InPort	getJacobian() Get the jacobian InPort.
InPort	getOperationMode() Get the operationMode InPort.
InPort	getOverrideCmd() Get the overrideCmd InPort.
void	setOverrideCmd(InPort overrideCmd) Set the overrideCmd InPort.

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

LBRCartVelValidator

public LBRCartVelValidator()

Creates a new LbrT1Validator 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

getJacobian

public InPort getJacobian()

Get the jacobian InPort.

Returns:

the jacobian InPort

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.

getAxisQCmd

public InPort getAxisQCmd()

Get the axisQCmd InPort.

Returns:

the axisQCmd InPort

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.

getAxisQMsr

public InPort getAxisQMsr()

Get the axisQMsr InPort.

Returns:

the axisQMsr InPort

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.

getOperationMode

public InPort getOperationMode()

Get the operationMode InPort.

Returns:

the operationMode InPort

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.

getOverrideCmd

public InPort getOverrideCmd()

Get the overrideCmd InPort.

Returns:

the overrideCmd InPort

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.

setOverrideCmd

public void setOverrideCmd(InPort overrideCmd)

Set the overrideCmd InPort.

Parameters:

overrideCmd - the commanded 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.