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

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

All Implemented Interfaces:

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

public class TwistWrenchTrafoModule
extends Module

Module to transform twists and wrenches.

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

TwistWrenchTrafoModule()
Creates a new instance of the TwistWrenchTrafoModule.

Method Summary

InPort	getOffsetFrameInPort() Gets the offset port from which will be used to transform the twists and wrenches.
InPort	getWrench1InPort() Gets the wrench1 inport.
OutPort	getWrench1OutPort() Gets the transformed wrench1 outport.
InPort	getWrench2InPort() Gets the wrench2 inport.
OutPort	getWrench2OutPort() Gets the transformed wrench2 outport.

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

TwistWrenchTrafoModule

public TwistWrenchTrafoModule()

Creates a new instance of the TwistWrenchTrafoModule.

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

getOffsetFrameInPort

public InPort getOffsetFrameInPort()

Gets the offset port from which will be used to transform the twists and wrenches.

Returns:

The offset port from which will be used to transform the twists and wrenches.

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.

getWrench1InPort

public InPort getWrench1InPort()

Gets the wrench1 inport.

Returns:

The wrench1 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.

getWrench1OutPort

public OutPort getWrench1OutPort()

Gets the transformed wrench1 outport.

Returns:

The transformed wrench1 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.

getWrench2InPort

public InPort getWrench2InPort()

Gets the wrench2 inport.

Returns:

The wrench2 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.

getWrench2OutPort

public OutPort getWrench2OutPort()

Gets the transformed wrench2 outport.

Returns:

The transformed wrench2 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.