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

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.kmp.OmniMoveVelocityPipe

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 OmniMoveVelocityPipe
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

Velocity pipe for the omnidirectional 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.

Field Summary

static String	CART_ACCEL_PARAMETER_NAME Parameter name of Cartesian acceleration.
static String	CART_DECEL_PARAMETER_NAME Parameter name of Cartesian deceleration.

Fields inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

FINISH_MAINTAINING, STOP_REQUEST

Constructor Summary

	OmniMoveVelocityPipe() creates a pipe with the name mobPipeVelRel.
protected	OmniMoveVelocityPipe(String name)

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getAxisQSpeedDelta()
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getAxisQSpeedDeltaMax()
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getIsValid()
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getSpeedCmd()
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopMotionRequest()
void	setAcceleration(double transAccel, double rotAccel) Sets the acceleration of the platform.
void	setDeceleration(double transDecel, double rotDecel) Sets the deceleration of the platform.

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

getAlias, getComponentType, getComponentVersion, getDebug, getFinishMaintainingInport, getInstanceName, getMaintainTimeout, getPipeName, getStopRequest, hasSameDataAs, setAlias, setInstanceName, setMaintainTimeout, setPipeName

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

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, onAsyncEvent, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

CART_DECEL_PARAMETER_NAME

public static final String CART_DECEL_PARAMETER_NAME

Parameter name of Cartesian deceleration.

See Also:

Constant Field Values

CART_ACCEL_PARAMETER_NAME

public static final String CART_ACCEL_PARAMETER_NAME

Parameter name of Cartesian acceleration.

See Also:

Constant Field Values

Constructor Detail

OmniMoveVelocityPipe

public OmniMoveVelocityPipe()

creates a pipe with the name mobPipeVelRel.

OmniMoveVelocityPipe

protected OmniMoveVelocityPipe(String name)

Parameters:

name - name of the pipe.

Method Detail

setDeceleration

public void setDeceleration(double transDecel,
                            double rotDecel)

Sets the deceleration of the platform.

Parameters:

transDecel - translational deceleration in mm/s^2

rotDecel - rotational deceleration in rad/s^2

setAcceleration

public void setAcceleration(double transAccel,
                            double rotAccel)

Sets the acceleration of the platform.

Parameters:

transAccel - translational acceleration in mm/s^2

rotAccel - rotational acceleration in rad/s^2

getSpeedCmd

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

Returns:

speedCmd dfe port

getStopMotionRequest

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

Returns:

StopMotionRequest dfe port

getAxisQSpeedDelta

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

Returns:

checkAxisQSpeedDelta dfe port

getAxisQSpeedDeltaMax

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

Returns:

AxisQSpeedDeltaMax dfe port

getIsValid

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

Returns:

checkIsValid dfe port