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

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

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 OmniMoveObserver
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.ObserverModule

Observer for the omni-directional mobile platform.

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

OmniMoveObserver(String driveGroupName, com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR parent)
Creates a new OmniMoveObserver by setting the name and the parent.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getAxisQCmdPort() Gets the out port with the commanded axis positions.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getOdoMsr() Gets the out port for the measured odometry.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getOdoSpeedCmd() Gets the out port for the commanded speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getOdoSpeedMsr() Gets the out port for the measured speed.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ObserverModule

addInPort, getAlias, setAlias

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, 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

OmniMoveObserver

public OmniMoveObserver(String driveGroupName,
                        com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR parent)

Creates a new OmniMoveObserver by setting the name and the parent.

Parameters:

driveGroupName - drive group name which contains the observer

parent - SPR which uses the Observer

Method Detail

getOdoMsr

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

Gets the out port for the measured odometry.

Returns:

odoMsr dfe port

getOdoSpeedMsr

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

Gets the out port for the measured speed.

Returns:

SpeedMsr dfe port

getAxisQCmdPort

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

Gets the out port with the commanded axis positions.

Returns:

axisQCmd dfe port

getOdoSpeedCmd

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

Gets the out port for the commanded speed.

Returns:

odoSpeedCmdT1m dfe port