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

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

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

Module used for preparing data for the BasicPosOTG 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.

Constructor Summary

MobPlatOTGCommander()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartAccelMaxPort() Gets the output port for the maximal cartesian acceleration.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartPosMsrPort() Gets the output port for the measured cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartPosTargetPort() Gets the output port for the cartesian target position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartSpeedMaxPort() Gets the output port for the maximal cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartSpeedMsrPort() Gets the output port for the measured cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getIpoStoppedPort() Gets the output port for the "IPO Stopped" signal.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOdoSpeedCmdT1mPort() Gets the input port for the commanded odometry speed value in the last cycle.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOdoSpeedMsrPort() Gets the input port for the measured odometry speed value.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getOverrideOTGPort() Gets the output port for the motion override.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOverridePort() Gets the input port for the override.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopMotionRequestPort() Get the input port for the stop motion request.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getSystemTimePort() Gets the input port for the system time.
void	setAcceleration(double transAcc, double rotAcc) Sets the desired maximal acceleration.
void	setDestination(double targetPosX, double targetPosY, double targetPosTheta) Sets the target position for a motion.
void	setMaxDestination(double maxTargetX, double maxTargetY, double maxTargetTheta) Sets the maximal translational and rotational distances for a motion.
void	setVelocity(double maxSpeedTrans, double maxSpeedRot) Sets the desired maximal cartesian speed.

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

MobPlatOTGCommander

public MobPlatOTGCommander()

Creates a new instance of the module.

Method Detail

getOverridePort

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

Gets the input port for the override.

Returns:

the input port for the override

getOdoSpeedMsrPort

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

Gets the input port for the measured odometry speed value.

Returns:

the input port for the measured odometry speed value

getOdoSpeedCmdT1mPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getOdoSpeedCmdT1mPort()

Gets the input port for the commanded odometry speed value in the last cycle.

Returns:

the input port for the commanded odometry speed value in the last cycle

getStopMotionRequestPort

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

Get the input port for the stop motion request.

Returns:

the input port for the stop motion request

getSystemTimePort

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

Gets the input port for the system time.

Returns:

the input port for the system time.

getCartPosMsrPort

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

Gets the output port for the measured cartesian position.

Returns:

the output port for the measured cartesian position

getCartSpeedMsrPort

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

Gets the output port for the measured cartesian speed.

Returns:

the output port for the measured cartesian speed

getCartAccelMaxPort

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

Gets the output port for the maximal cartesian acceleration.

Returns:

the output port for the maximal cartesian acceleration.

getCartSpeedMaxPort

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

Gets the output port for the maximal cartesian speed.

Returns:

the output port for the maximal cartesian speed

getCartPosTargetPort

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

Gets the output port for the cartesian target position.

Returns:

the output port for the cartesian target position

getIpoStoppedPort

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

Gets the output port for the "IPO Stopped" signal.

Returns:

the output port for the "IPO Stopped" signal

getOverrideOTGPort

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

Gets the output port for the motion override.

Returns:

the output port for the motion override

setAcceleration

public void setAcceleration(double transAcc,
                            double rotAcc)

Sets the desired maximal acceleration.

Parameters:

transAcc - translational acceleration (in m/s^2)

rotAcc - rotational acceleration (in rad/s^2)

setVelocity

public void setVelocity(double maxSpeedTrans,
                        double maxSpeedRot)

Sets the desired maximal cartesian speed.

Parameters:

maxSpeedTrans - cartesian speed in x-direction (in m/s)

maxSpeedRot - rotational speed of theta (in m/s)

setMaxDestination

public void setMaxDestination(double maxTargetX,
                              double maxTargetY,
                              double maxTargetTheta)

Sets the maximal translational and rotational distances for a motion.

Parameters:

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

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

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

setDestination

public void setDestination(double targetPosX,
                           double targetPosY,
                           double targetPosTheta)

Sets the target position for a motion.

Parameters:

targetPosX - the target position in x-direction (in mm)

targetPosY - the target position in y-direction (in mm)

targetPosTheta - the theta-rotation of the target position (in rad)