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

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

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

Class for the Sunrise module PathController.

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

DEFAULT_MODULE_NAME Default name of the module.

Constructor Summary

PathController()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartAccelMax() Gets the output port for the maximum Cartesian acceleration.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartPosCmdPort() Gets the output port for the commanded Cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartPosMsrPort() Gets the output port for the measured Cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartSpeedCmdPort() Gets the output port for the commanded 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 stop.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOdoSpeedMsrPort() Gets the input port for the measured speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOverridePort() Gets the input port for the override.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopMotionRequestPort() Gets the input port for the stop motion request.

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

DEFAULT_MODULE_NAME

public static final String DEFAULT_MODULE_NAME

Default name of the module.

See Also:

Constant Field Values

Constructor Detail

PathController

public PathController()

Creates a new instance of the module.

Method Detail

getOdoSpeedMsrPort

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

Gets the input port for the measured speed.

Returns:

odoSpeedMsr port

getOverridePort

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

Gets the input port for the override.

Returns:

override port

getStopMotionRequestPort

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

Gets the input port for the stop motion request.

Returns:

stopMotionRequest port

getCartSpeedMsrPort

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

Gets the output port for the measured Cartesian speed.

Returns:

cartSpeedMsr port

getCartPosMsrPort

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

Gets the output port for the measured Cartesian position.

Returns:

cartPosMsr port

getCartSpeedCmdPort

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

Gets the output port for the commanded Cartesian speed.

Returns:

cartSpeedCmd port

getCartPosCmdPort

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

Gets the output port for the commanded Cartesian position.

Returns:

cartPosCmd port

getIpoStoppedPort

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

Gets the output port for the IPO stop.

Returns:

ipoStopped port

getCartAccelMax

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

Gets the output port for the maximum Cartesian acceleration.

Returns:

cartAccelMax port