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

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

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

Definition of the collision avoidance (colli) module.

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.

Field Summary

static String	APPROACH_DIST_PARAMETER_NAME Parameter name of approach distance.
static String	ROT_DECEL_PARAMETER_NAME Parameter name of rotational deceleration.
static String	SIDE_DIST_PARAMETER_NAME Parameter name of side distance.
static String	TRANS_DECEL_PARAMETER_NAME Parameter name of translational deceleration.

Constructor Summary

CollisionAvoidanceModule()
creates an instance of CollisionAvoidanceModule module with the name CollisionAvoidance.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCurrentVelocity() Gets the Input port for the current velocity.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getVelocityCorrected() Gets the out port with the corrected velocity.
void	setApproachDistance(double approachDist) Sets the approach distance.
void	setDeceleration(double transAccel, double rotAccel) Sets the rotational acceleration.
void	setSideDistance(double sideDist) Sets the side distance.

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

ROT_DECEL_PARAMETER_NAME

public static final String ROT_DECEL_PARAMETER_NAME

Parameter name of rotational deceleration.

See Also:

Constant Field Values

TRANS_DECEL_PARAMETER_NAME

public static final String TRANS_DECEL_PARAMETER_NAME

Parameter name of translational deceleration.

See Also:

Constant Field Values

SIDE_DIST_PARAMETER_NAME

public static final String SIDE_DIST_PARAMETER_NAME

Parameter name of side distance.

See Also:

Constant Field Values

APPROACH_DIST_PARAMETER_NAME

public static final String APPROACH_DIST_PARAMETER_NAME

Parameter name of approach distance.

See Also:

Constant Field Values

Constructor Detail

CollisionAvoidanceModule

public CollisionAvoidanceModule()

creates an instance of CollisionAvoidanceModule module with the name CollisionAvoidance.

Method Detail

setDeceleration

public void setDeceleration(double transAccel,
                            double rotAccel)

Sets the rotational acceleration.

Parameters:

transAccel - translational acceleration to set.

rotAccel - rotational acceleration to set.

setApproachDistance

public void setApproachDistance(double approachDist)

Sets the approach distance.

Parameters:

approachDist - approach distance

setSideDistance

public void setSideDistance(double sideDist)

Sets the side distance.

Parameters:

sideDist - the side distance.

getCurrentVelocity

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

Gets the Input port for the current velocity.

Returns:

current velocity dfe port

getVelocityCorrected

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

Gets the out port with the corrected velocity.

Returns:

velocity corrected dfe port