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

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

All Implemented Interfaces:

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

public class OnlinePlanner
extends Module

Online planner for jogging movements.

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

OnlinePlanner(boolean cartesian)
Creates a new online planner instance.

Method Summary

InPort	getAlphaInport() Alpha inport.
OutPort	getAlphaOutport() Alpha outport.
OutPort	getNewRobotPositionOutport() Gets the outport containing the new robot position.
InPort	getRobotPositionInport() Gets the inport for the current robot position.
InPort	getVelocitiesInport() Gets the inport for the desired velocities.
InPort	getWatchdogInport() Gets the inport for the watchdog.
void	setAcceleration(double acceleration) Sets the desired acceleration.
void	setAxesCount(int axesCount) Sets the axes count.

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

OnlinePlanner

public OnlinePlanner(boolean cartesian)

Creates a new online planner instance.

Parameters:

cartesian - - if set to true - works as cartesian online planner, otherwise - joint specific online planner.

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

getRobotPositionInport

public InPort getRobotPositionInport()

Gets the inport for the current robot position.

Returns:

The inport for 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.

getVelocitiesInport

public InPort getVelocitiesInport()

Gets the inport for the desired velocities.

Returns:

The inport for the desired velocities.

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.

getWatchdogInport

public InPort getWatchdogInport()

Gets the inport for the watchdog.

Returns:

The inport for the watchdog.

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.

getNewRobotPositionOutport

public OutPort getNewRobotPositionOutport()

Gets the outport containing the new robot position.

Returns:

The outport containing the new 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.

setAcceleration

public void setAcceleration(double acceleration)

Sets the desired acceleration.

Parameters:

acceleration - The desired acceleration.

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.

setAxesCount

public void setAxesCount(int axesCount)

Sets the axes count.

Parameters:

axesCount - The axes count.

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.

getAlphaOutport

public OutPort getAlphaOutport()

Alpha outport.

Returns:

Alpha outport.

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()

Alpha inport.

Returns:

Alpha 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.