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

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

All Implemented Interfaces:

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

public class VelAccEstimatorModule
extends Module

Module for estimating velocity and 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.

Constructor Summary

VelAccEstimatorModule(int dof)
Creates a new velocity acceleration estimator module.

Method Summary

InPort	getAccelerationIn() Get the acceleration in port.
OutPort	getAccelerationOut() Get the acceleration out port.
InPort	getPositionIn() Get the position in port.
OutPort	getPositionOut() Get the position out port.
InPort	getVelocityIn() Get the velocity in port.
OutPort	getVelocityOut() Get the velocity out port.
void	setZeroVelAccMode() Activate the special zero velocity acceleration mode that commands zero velocity and acceleration throughout.

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

VelAccEstimatorModule

public VelAccEstimatorModule(int dof)

Creates a new velocity acceleration estimator module.

Parameters:

dof - degrees of freedom for position, velocity and acceleration inputs and outputs

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

getPositionIn

public InPort getPositionIn()

Get the position in port.

Returns:

position in port

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.

getVelocityIn

public InPort getVelocityIn()

Get the velocity in port.

Returns:

velocity in port

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.

getAccelerationIn

public InPort getAccelerationIn()

Get the acceleration in port.

Returns:

acceleration in port

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.

getPositionOut

public OutPort getPositionOut()

Get the position out port.

Returns:

position out port

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.

getVelocityOut

public OutPort getVelocityOut()

Get the velocity out port.

Returns:

velocity out port

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.

getAccelerationOut

public OutPort getAccelerationOut()

Get the acceleration out port.

Returns:

acceleration out port

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.

setZeroVelAccMode

public void setZeroVelAccMode()

Activate the special zero velocity acceleration mode that commands zero velocity and acceleration throughout.