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

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

All Implemented Interfaces:

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

public class NewJointSplineModule
extends Module

The module is able to do blended joint motions.

Constructor Summary

NewJointSplineModule(Robot robot)
Creates a new PTP module.

Method Summary

void	addSplineSegment(double velocity, double acceleration, double blendingDistance, boolean isRelativeSegment, 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	getOverrideInport() Gets the inport for changing the program override.
InPort	getStartPositionInport() Gets the inport which must be connected with the current robot position.

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

NewJointSplineModule

public NewJointSplineModule(Robot robot)

Creates a new PTP module.

Parameters:

robot - The robot which performs the spline.

Method Detail

addSplineSegment

public void addSplineSegment(double velocity,
                             double acceleration,
                             double blendingDistance,
                             boolean isRelativeSegment,
                             double[] destination)

Adds a single ptp spline segment to this spline.

Parameters:

velocity - The velocity.

blendingDistance - The blending distance.

isRelativeSegment - Specifies if the segment should be interpreted as a relative segment (relative to the preceding segment).

acceleration - The acceleration.

destination - The destination.

getJointOutport

public OutPort getJointOutport()

Gets the outport containing the joint values of the spline.

Returns:

The outport containing the joint values of the spline.

getCurrRelOutport

public OutPort getCurrRelOutport()

Gets the outport containing the current position on the path.

Returns:

The outport containing the current position on the path.

getOverrideInport

public InPort getOverrideInport()

Gets the inport for changing the program override.

Returns:

The inport for changing the program override.

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.