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

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

All Implemented Interfaces:

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

Direct Known Subclasses:

BrakeTestPipe, JointSpacePipe

public abstract class PipeWithControlMode
extends ActiveDevice
implements IPipeWithControlMode

Pipe that has a control mode.

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

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

FINISH_MAINTAINING, STOP_REQUEST

Constructor Summary

protected	PipeWithControlMode(String pipeName) Creates a new active device with a given pipe name.
protected	PipeWithControlMode(String pipeName, String deviceName) Creates a new active device with a given mode and name.

Method Summary

IMotionControlMode	getControlMode() Gets the control mode of the pipe.
void	setControlMode(IMotionControlMode controlMode) Sets the control mode of the pipe.

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

Constructor Detail

PipeWithControlMode

protected PipeWithControlMode(String pipeName)

Creates a new active device with a given pipe name.

The name of the device is an empty string and can be set afterwards through the setName method.

Parameters:

pipeName - The mode of the device (e.g. CartImp, LBRGravComp, ...).

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.

PipeWithControlMode

protected PipeWithControlMode(String pipeName,
                              String deviceName)

Creates a new active device with a given mode and name.

Parameters:

pipeName - The mode of the device (e.g. CartImp, LBRGravComp, ...).

deviceName - The name of the device.

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

getControlMode

public IMotionControlMode getControlMode()

Gets the control mode of the pipe.

Specified by:

getControlMode in interface IPipeWithControlMode

Returns:

The control mode 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.

setControlMode

public void setControlMode(IMotionControlMode controlMode)

Sets the control mode of the pipe.

Specified by:

setControlMode in interface IPipeWithControlMode

Parameters:

controlMode - The control mode 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.