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

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.api.ObserverModule
              com.kuka.roboticsAPI.controllerModel.sunrise.api.DeviceObserverModule
                  com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.RobotObserver

All Implemented Interfaces:

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

public class RobotObserver
extends DeviceObserverModule

Observes the output values of a pipe. Is used to avoid cycles in an SPR, because we need an DAG in an SPR.

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

RobotObserver(String observerName, String robotName, SPR parent)
Creates a new PipeObserver instance.

Method Summary

OutPort	getAreAllAxesMastered() Returns the outport containing the mastering state of all axes.
OutPort	getAreAxesMastered() Returns the outport containing the mastering state of axes.
OutPort	getAxisCtrlMode() Returns the axisCtrlModeT1m OutPort.
OutPort	getAxisQSpeedMsr() Returns the joint outport for the measured velocity.
OutPort	getAxisTauCmdT1m() Returns the axisTauCmdT1m OutPort.
OutPort	getAxisTauGravMdl() Returns the outport for the model torque.
OutPort	getCommandedAlphaOutport() Returns the alpha outport of the pipe which contains the commanded alpha.
OutPort	getCommandedCartPositionOutport() Returns the cartesian outport of the pipe which contains the commanded cartesian position.
OutPort	getCommandedJointOutport() Returns the joint outport of the pipe which contains the commanded joint position.
OutPort	getCommandedStatusOutport() Returns the status outport of the pipe which contains the commanded status.
OutPort	getCommandedTurnOutport() Returns the turn outport of the pipe which contains the commanded turn.
OutPort	getErrStateDrives() Returns the outport containing an combined error state of the drives.
OutPort	getExtMeasuredJointTorqueOutport() Returns the joint outport of the pipe which contains the measured and adjusted joint torque.
OutPort	getFeedlockState() Returns the outport containing the lock state of axes.
OutPort	getForceVarianceOutport() Returns the force variance outport of the pipe which contains the measured and adjusted force variance.
OutPort	getMeasuredAlphaOutport() Returns the alpha outport of the pipe which contains the measured alpha.
OutPort	getMeasuredCartPositionOutport() Returns the cartesian outport of the pipe which contains the measured cartesian position.
OutPort	getMeasuredForceOutport() Returns the force outport of the pipe which contains the measured and adjusted force.
OutPort	getMeasuredJointOutport() Returns the joint outport of the pipe which contains the measured joint position.
OutPort	getMeasuredJointTorqueOutport() Returns the joint outport of the pipe which contains the measured joint torque.
OutPort	getMeasuredStatusOutport() Returns the status outport of the pipe which contains the measured status.
OutPort	getMeasuredTurnOutport() Returns the turn outport of the pipe which contains the measured turn.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ObserverModule

addInPort, getAlias, setAlias

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, 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

RobotObserver

public RobotObserver(String observerName,
                     String robotName,
                     SPR parent)

Creates a new PipeObserver instance.

Parameters:

observerName - The name of the observer.

robotName - The name of the drive group, which should be observed.

parent - SPR for which this instance is created.

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

getAxisQSpeedMsr

public OutPort getAxisQSpeedMsr()

Returns the joint outport for the measured velocity.

Returns:

Returns the measured 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.

getAxisTauGravMdl

public OutPort getAxisTauGravMdl()

Returns the outport for the model torque.

Returns:

Returns the model torque.

getCommandedJointOutport

public OutPort getCommandedJointOutport()

Returns the joint outport of the pipe which contains the commanded joint position.

Returns:

The joint outport of the pipe which contains the commanded joint 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.

getMeasuredJointOutport

public OutPort getMeasuredJointOutport()

Returns the joint outport of the pipe which contains the measured joint position.

Returns:

The joint outport of the pipe which contains the measured joint 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.

getCommandedCartPositionOutport

public OutPort getCommandedCartPositionOutport()

Returns the cartesian outport of the pipe which contains the commanded cartesian position.

Returns:

The cartesian outport of the pipe which contains the commanded cartesian 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.

getMeasuredCartPositionOutport

public OutPort getMeasuredCartPositionOutport()

Returns the cartesian outport of the pipe which contains the measured cartesian position.

Returns:

The cartesian outport of the pipe which contains the measured cartesian 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.

getCommandedStatusOutport

public OutPort getCommandedStatusOutport()

Returns the status outport of the pipe which contains the commanded status.

Returns:

The status outport of the pipe which contains the commanded status.

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.

getMeasuredStatusOutport

public OutPort getMeasuredStatusOutport()

Returns the status outport of the pipe which contains the measured status.

Returns:

The status outport of the pipe which contains the measured status.

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.

getCommandedTurnOutport

public OutPort getCommandedTurnOutport()

Returns the turn outport of the pipe which contains the commanded turn.

Returns:

The turn outport of the pipe which contains the commanded turn.

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.

getMeasuredTurnOutport

public OutPort getMeasuredTurnOutport()

Returns the turn outport of the pipe which contains the measured turn.

Returns:

The turn outport of the pipe which contains the measured turn.

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.

getCommandedAlphaOutport

public OutPort getCommandedAlphaOutport()

Returns the alpha outport of the pipe which contains the commanded alpha.

Returns:

The alpha outport of the pipe which contains the commanded alpha.

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.

getMeasuredAlphaOutport

public OutPort getMeasuredAlphaOutport()

Returns the alpha outport of the pipe which contains the measured alpha.

Returns:

The alpha outport of the pipe which contains the measured alpha.

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.

getExtMeasuredJointTorqueOutport

public OutPort getExtMeasuredJointTorqueOutport()

Returns the joint outport of the pipe which contains the measured and adjusted joint torque.

Returns:

The joint outport of the pipe which contains the measured and adjusted joint torque.

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.

getMeasuredJointTorqueOutport

public OutPort getMeasuredJointTorqueOutport()

Returns the joint outport of the pipe which contains the measured joint torque.

Returns:

The joint outport of the pipe which contains the measured joint torque.

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.

getMeasuredForceOutport

public OutPort getMeasuredForceOutport()

Returns the force outport of the pipe which contains the measured and adjusted force.

Returns:

The force outport of the pipe which contains the measured and adjusted force.

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.

getForceVarianceOutport

public OutPort getForceVarianceOutport()

Returns the force variance outport of the pipe which contains the measured and adjusted force variance.

Returns:

The force variance outport of the pipe which contains the measured and adjusted force variance.

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.

getFeedlockState

public OutPort getFeedlockState()

Returns the outport containing the lock state of axes.

Returns:

The outport containing lock state of axes as integer per axis, where 0: no lock, 1: negative direction locked, 2: positive direction locked, 3: both locked

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.

getAreAxesMastered

public OutPort getAreAxesMastered()

Returns the outport containing the mastering state of axes.

Returns:

The outport containing mastering state of axes. The value is integer array, containing a flag (0 or 1) for each axis.

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.

getAreAllAxesMastered

public OutPort getAreAllAxesMastered()

Returns the outport containing the mastering state of all axes.

Returns:

The outport containing mastering state of all axes. This is an integer flag (0 or 1).

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.

getErrStateDrives

public OutPort getErrStateDrives()

Returns the outport containing an combined error state of the drives.
The outport combines the error states of the different drives. The drive with the most critical error state defines the value of this outport. Depending on the state, the robot should react correspondingly. Mostly a path maintaining stop is advised.

Returns:

The outport containing the requested stop by the drives. This is an integer.

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.

getAxisTauCmdT1m

public OutPort getAxisTauCmdT1m()

Returns the axisTauCmdT1m OutPort.

Returns:

The OutPort axisTauCmdT1m

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.

getAxisCtrlMode

public OutPort getAxisCtrlMode()

Returns the axisCtrlModeT1m OutPort.

Returns:

The OutPort axisCtrlModeT1m

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.