com.kuka.roboticsAPI.deviceModel.kmp
Class KmpOmniMove

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.SpatialObject
              com.kuka.roboticsAPI.geometricModel.PhysicalObject
                  com.kuka.roboticsAPI.deviceModel.Device
                      com.kuka.roboticsAPI.deviceModel.MovableDevice
                          com.kuka.roboticsAPI.deviceModel.MobilePlatform
                              com.kuka.roboticsAPI.deviceModel.kmp.SunriseOmniMoveMobilePlatform
                                  com.kuka.roboticsAPI.deviceModel.kmp.KmpOmniMove

All Implemented Interfaces:

com.kuka.common.ITaggable, com.kuka.jogging.provider.api.common.ICartesianJoggingSupport, com.kuka.jogging.provider.api.common.IJoggingSupport, com.kuka.roboticsAPI.controllerModel.sunrise.IMovableSunriseDevice, com.kuka.roboticsAPI.controllerModel.sunrise.ISunriseDevice, com.kuka.roboticsAPI.deviceModel.IOperationModeProvider

public class KmpOmniMove
extends SunriseOmniMoveMobilePlatform

Device class representing a KMP controlled by sunrise. Provides a method to get the lifting device is available.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.deviceModel.kmp.SunriseOmniMoveMobilePlatform

_mobilePlatformStateProvider

Fields inherited from class com.kuka.roboticsAPI.deviceModel.Device

_hardwareVersion

Constructor Summary

KmpOmniMove(com.kuka.roboticsAPI.controllerModel.Controller controller, String name)
Creates a new KMP instance with the given controller.

Method Summary

void	enableCharge() Enables floor mounted charge.
void	enableCharge(ChargingType chargingType, int parameter) Enables floor mounted charging.
protected void	onDispose()
void	stopCharge() Stops the floor mounted charging and release motions lock.

Methods inherited from class com.kuka.roboticsAPI.deviceModel.kmp.SunriseOmniMoveMobilePlatform

getCapabilities, getCapability, getCurrentJointPosition, getDegreeOfFreedom, getMobilePlatformBatteryState, getMobilePlatformSafetyState, getSafetyState, hasCapability, isJointPositionInfoCapable, isReadyToMove, jog, refreshHardwareVersion, registerCapability, setDrivesReady, setJoggingBase, setMotionEnabled, setSafetyState, setTimeout

Methods inherited from class com.kuka.roboticsAPI.deviceModel.MobilePlatform

move, moveAsync, moveAsync

Methods inherited from class com.kuka.roboticsAPI.deviceModel.MovableDevice

calculateReadyToMove, getOperationMode, isMotionEnabled

Methods inherited from class com.kuka.roboticsAPI.deviceModel.Device

acquireCommandPermit, createDefaultsParameterSet, dispose, getContext, getController, getDefaults, getHardwareVersion, getUniqueName, initialize, isInitialized, onInitialize, releaseCommandPermit, setName

Methods inherited from class com.kuka.roboticsAPI.geometricModel.PhysicalObject

addDefaultMotionFrame, getDefaultMotionFrame, getLoadData, move, move, moveAsync, moveAsync, setDefaultMotionFrame

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SpatialObject

attachTo, attachTo, changeParent, detach, switchParent, switchParent

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getFrame, getName, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setRootFrame, setUserParameter, toString, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Constructor Detail

KmpOmniMove

@Inject
public KmpOmniMove(com.kuka.roboticsAPI.controllerModel.Controller controller,
                          String name)

Creates a new KMP instance with the given controller.

Parameters:

controller - The controller to which this device belongs.

name - The name of the device.

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.

Method Detail

enableCharge

public void enableCharge()

Enables floor mounted charge. Charge will be active while application is running. All motions are disabled when charging is active. Please note that this call is asynchronous. Charging will be disabled, when current application is finished.

enableCharge

public void enableCharge(ChargingType chargingType,
                         int parameter)

Enables floor mounted charging. All motions are disabled when charging is active. Charging will be disabled, when current application is stopped.

Parameters:

chargingType - specifies if the charging should go on for a given type, or until a given SOC. This call is a blocking call, the application run will be stopped until charge reach the desired SOC or timeout.

parameter - The timeout in seconds or percentage of SOC for charge.

See Also:

ChargingType

stopCharge

public void stopCharge()

Stops the floor mounted charging and release motions lock.

onDispose

protected void onDispose()

Overrides:

onDispose in class com.kuka.roboticsAPI.deviceModel.Device