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

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

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

Module for mobile platform speed control.

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

HolonomicSpeedController()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartPosDesPort() Gets the input port for the desired cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartPosMsrPort() Gets the input port for the measures cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartSpeedDesPort() Gets the input port for the desired cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartSpeedMsrPort() Gets the input port for the measured cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCommandedVelocityPort() Gets the output port for the commanded Cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getOrientationErrorExceededPort() Gets the output port which indicates if the orientation error is exceeded.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopMotionRequestPort() Gets the input port for stop motion request.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getTrackingErrorExceededPort() Gets the output port which indicates if the tracking error is exceeded.

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

HolonomicSpeedController

public HolonomicSpeedController()

Creates a new instance of the module.

Method Detail

getCartPosMsrPort

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

Gets the input port for the measures cartesian position.

Returns:

the input port for measures cartesian position

getCartSpeedMsrPort

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

Gets the input port for the measured cartesian speed.

Returns:

the input port for measured cartesian speed

getCartPosDesPort

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

Gets the input port for the desired cartesian position.

Returns:

the input port for desired cartesian position

getCartSpeedDesPort

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

Gets the input port for the desired cartesian speed.

Returns:

the input port for desired cartesian speed

getStopMotionRequestPort

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

Gets the input port for stop motion request.

Returns:

the input port for stop motion request

getCommandedVelocityPort

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

Gets the output port for the commanded Cartesian speed.

Returns:

the output port for the commanded Cartesian speed

getTrackingErrorExceededPort

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

Gets the output port which indicates if the tracking error is exceeded.

Returns:

the output port which indicates if the tracking error is exceeded

getOrientationErrorExceededPort

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

Gets the output port which indicates if the orientation error is exceeded.

Returns:

the output port which indicates if the orientation error is exceeded.