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

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

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 BasicVelOTG
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

Field Summary

static String

DEFAULT_MODULE_NAME Default name of the module.

Constructor Summary

BasicVelOTG()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getAccCmd() Gets the output port for the commanded acceleration.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getAccelMsr() Gets the input port for the measured acceleration.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getMaxAccel() Gets the input port for the maximum acceleration.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getMaxSpeed() Gets the input port for the maximum speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOverride() Gets the input port for the override.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getPosCmd() Gets the output port for the commanded position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getPosMsr() Gets the input port for the measured position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getSpeedMsr() Gets the input port for the measured speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStop() Gets the input port for the stop.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getTargetVel() Gets the input port for the target velocity.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getVelCmd() Gets the output port for the commanded velocity.
void	setDoF(int dof) Sets the degrees of freedom which is used for the execution of the module.
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

Field Detail

DEFAULT_MODULE_NAME

public static final String DEFAULT_MODULE_NAME

Default name of the module.

See Also:

Constant Field Values

Constructor Detail

BasicVelOTG

public BasicVelOTG()

Creates a new instance of the module.

Method Detail

getOverride

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

Gets the input port for the override.

Returns:

override port

getTargetVel

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

Gets the input port for the target velocity.

Returns:

targetVel port

getPosMsr

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

Gets the input port for the measured position.

Returns:

posMsr port

getSpeedMsr

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

Gets the input port for the measured speed.

Returns:

speedMsr port

getAccelMsr

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

Gets the input port for the measured acceleration.

Returns:

accelMsr port

getMaxAccel

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

Gets the input port for the maximum acceleration.

Returns:

maxAccel port

getMaxSpeed

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

Gets the input port for the maximum speed.

Returns:

maxSpeed port

getStop

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

Gets the input port for the stop.

Returns:

stop port

getPosCmd

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

Gets the output port for the commanded position.

Returns:

posCmd port

getVelCmd

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

Gets the output port for the commanded velocity.

Returns:

velCmd port

getAccCmd

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

Gets the output port for the commanded acceleration.

Returns:

AccCmd port

setDoF

public void setDoF(int dof)

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

Parameters:

dof - the degrees of freedom to 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