com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.kmp
Class BasicPosOTG

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

All Implemented Interfaces:

com.kuka.common.IDataEquatable, com.kuka.roboticsAPI.controllerModel.sunrise.api.expressions.IExpressionSegment, com.kuka.roboticsAPI.controllerModel.sunrise.api.ISprComponent, com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.ISegment

public class BasicPosOTG
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

Module for parametrizing the OTG.

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

BasicPosOTG()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getAccelMaxPort() Gets the input port for the maximum acceleration.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOverridePort() Gets the input port for the override.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getPosDesPort() Gets the output port for the desired position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getPosTargetPort() Gets the input port for the target position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getSpeedDesPort() Gets the output port for the desired speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getSpeedMaxPort() Gets the input port for the maximum speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getSpeedMsrPort() Gets the input port for the measured speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopPort() Gets the input port for the stop request.
void	setDoF(int dof) Sets the degrees of freedom which is used for the execution of the OTG module.
void	setMaximalPosition(double maxPosX, double maxPosY, double maxPosTheta) Sets the maximal translational and rotational distances for a motion.
void	setMaxTuningVelocity(double[] maxTuningVelValue) Sets the maximal tuning velocity parameter.
void	setMinimalPosition(double minPosX, double minPosY, double minPosTheta) Sets the minimal translational and rotational distance for a motion.
void	setMinimalPositionDelta(double deltaX, double deltaY, double deltaTheta) Sets the minimal position delta which marks the lower bound up to which tracking errors are ignored.
void	setOpenLoopPlanning(int planningValue) Sets the module parameter for open loop planning.
void	setStartFromStandstill(int startFromStandstill) Sets the module parameter which defines whether to wait for standstill in tuning.

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

BasicPosOTG

public BasicPosOTG()

Creates a new instance of the module.

Method Detail

getPosTargetPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getPosTargetPort()

Gets the input port for the target position.

Returns:

the input port for the target position

getSpeedMaxPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getSpeedMaxPort()

Gets the input port for the maximum speed.

Returns:

the input port for the maximum speed

getSpeedMsrPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getSpeedMsrPort()

Gets the input port for the measured speed.

Returns:

the input port for the measured speed

getAccelMaxPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getAccelMaxPort()

Gets the input port for the maximum acceleration.

Returns:

the input port for the maximum acceleration

getOverridePort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getOverridePort()

Gets the input port for the override.

Returns:

the input port for the override

getStopPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getStopPort()

Gets the input port for the stop request.

Returns:

the input port for the stop request

getPosDesPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getPosDesPort()

Gets the output port for the desired position.

Returns:

the output port for the desired position

getSpeedDesPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getSpeedDesPort()

Gets the output port for the desired speed.

Returns:

the output port for the desired speed

setDoF

public void setDoF(int dof)

Sets the degrees of freedom which is used for the execution of the OTG module.

Parameters:

dof - the degrees of freedom to set

setMaxTuningVelocity

public void setMaxTuningVelocity(double[] maxTuningVelValue)

Sets the maximal tuning velocity parameter.

Parameters:

maxTuningVelValue - the parameter value to be set

setOpenLoopPlanning

public void setOpenLoopPlanning(int planningValue)

Sets the module parameter for open loop planning.

Parameters:

planningValue - the value to set

setStartFromStandstill

public void setStartFromStandstill(int startFromStandstill)

Sets the module parameter which defines whether to wait for standstill in tuning.

Parameters:

startFromStandstill - the value to set

setMinimalPositionDelta

public void setMinimalPositionDelta(double deltaX,
                                    double deltaY,
                                    double deltaTheta)

Sets the minimal position delta which marks the lower bound up to which tracking errors are ignored.

Parameters:

deltaX - the minimal position delta in x-direction (in mm)

deltaY - the minimal position delta in y-direction (in mm)

deltaTheta - the minimal position delta for theta rotation (in rad)

setMinimalPosition

public void setMinimalPosition(double minPosX,
                               double minPosY,
                               double minPosTheta)

Sets the minimal translational and rotational distance for a motion.

Parameters:

minPosX - the minimal translational distance in x-direction (in mm)

minPosY - the minimal translational distance in y-direction (in mm)

minPosTheta - the minimal rotational distance for theta (in rad)

setMaximalPosition

public void setMaximalPosition(double maxPosX,
                               double maxPosY,
                               double maxPosTheta)

Sets the maximal translational and rotational distances for a motion.

Parameters:

maxPosX - the maximal translational distance in x-direction (in mm)

maxPosY - the maximal translational distance in y-direction (in mm)

maxPosTheta - the maximal rotational distance for theta (in rad)