com.kuka.roboticsAPI.deviceModel.kmp
Class SunriseOmniMoveMobilePlatform

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

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

Direct Known Subclasses:

KmpOmniMove

public class SunriseOmniMoveMobilePlatform
extends com.kuka.roboticsAPI.deviceModel.MobilePlatform
implements com.kuka.roboticsAPI.controllerModel.sunrise.IMovableSunriseDevice, com.kuka.jogging.provider.api.common.ICartesianJoggingSupport

Device class representing a mobile platform controlled by sunrise. Provides some convenience methods for moving the platform.

Field Summary

protected MobilePlatformStateProvider

_mobilePlatformStateProvider State provider for the Mobile Platform.

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

_hardwareVersion

Constructor Summary

SunriseOmniMoveMobilePlatform(com.kuka.roboticsAPI.controllerModel.Controller controller, String name)
Creates an instance of the SunriseOmniMoveMobilePlatform class with the specified controller and name.

Method Summary

Set<Class<? extends ICapability>>	getCapabilities() Returns all available capability for the device.
<T extends ICapability> T	getCapability(Class<T> capabilityInterface) Gets the requested ICapabliity implementation.
double[]	getCurrentJointPosition() Returns the lifting device joint position of the KMP.
int	getDegreeOfFreedom() Returns the degree of freedom of the SunriseOmniMoveMobilePlatforms.
IMobilePlatformBatteryState	getMobilePlatformBatteryState() Returns an IMobilePlatformBatteryState object containing the current mobile platform battery data.
IMobilePlatformSafetyState	getMobilePlatformSafetyState() Returns an IMobilePlatformSafetyState object containing the current mobile platform safety field data.
com.kuka.roboticsAPI.controllerModel.sunrise.ISafetyState	getSafetyState()
boolean	hasCapability(Class<? extends ICapability> capabilityInterface) Gets whether the device has a given capability.
boolean	isJointPositionInfoCapable()
boolean	isReadyToMove()
void	jog(double[] cartesianVelocities) Initiates jogging on the appropriate coordinates with the given velocities.
com.kuka.roboticsAPI.controllerModel.StatePortState	refreshHardwareVersion()
static boolean	registerCapability(Class<? extends ICapability> capabilityInterface, ICapability capability) Registers a Capability under a given interface to the SunriseOmniMoveMobilePlatform.
void	setDrivesReady(boolean ready)
void	setJoggingBase(com.kuka.roboticsAPI.geometricModel.Frame baseFrame)
void	setMotionEnabled(boolean motionEnabled)
void	setSafetyState(com.kuka.roboticsAPI.controllerModel.sunrise.SunriseSafetyState safetyState)
void	setTimeout(long timeout)

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, onDispose, 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

Field Detail

_mobilePlatformStateProvider

protected MobilePlatformStateProvider _mobilePlatformStateProvider

State provider for the Mobile Platform.

Constructor Detail

SunriseOmniMoveMobilePlatform

public SunriseOmniMoveMobilePlatform(com.kuka.roboticsAPI.controllerModel.Controller controller,
                                     String name)

Creates an instance of the SunriseOmniMoveMobilePlatform class with the specified controller and name.

Parameters:

controller - The controller to which this device belongs.

name - The name of the device.

Method Detail

setMotionEnabled

public void setMotionEnabled(boolean motionEnabled)

Specified by:

setMotionEnabled in interface com.kuka.roboticsAPI.controllerModel.sunrise.IMovableSunriseDevice

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.

setDrivesReady

public void setDrivesReady(boolean ready)

Specified by:

setDrivesReady in interface com.kuka.roboticsAPI.controllerModel.sunrise.IMovableSunriseDevice

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.

setSafetyState

public void setSafetyState(com.kuka.roboticsAPI.controllerModel.sunrise.SunriseSafetyState safetyState)

Specified by:

setSafetyState in interface com.kuka.roboticsAPI.controllerModel.sunrise.IMovableSunriseDevice

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.

getSafetyState

public com.kuka.roboticsAPI.controllerModel.sunrise.ISafetyState getSafetyState()

Overrides:

getSafetyState in class com.kuka.roboticsAPI.deviceModel.MovableDevice

getMobilePlatformSafetyState

public IMobilePlatformSafetyState getMobilePlatformSafetyState()

Returns an IMobilePlatformSafetyState object containing the current mobile platform safety field data.

Returns:

the current Safety field states of the mobile platform.

getMobilePlatformBatteryState

public IMobilePlatformBatteryState getMobilePlatformBatteryState()

Returns an IMobilePlatformBatteryState object containing the current mobile platform battery data.

Returns:

battery state of mobile platform

isReadyToMove

public boolean isReadyToMove()

Overrides:

isReadyToMove in class com.kuka.roboticsAPI.deviceModel.MovableDevice

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.

setTimeout

public void setTimeout(long timeout)

Specified by:

setTimeout in interface com.kuka.jogging.provider.api.common.IJoggingSupport

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.

getDegreeOfFreedom

public int getDegreeOfFreedom()

Returns the degree of freedom of the SunriseOmniMoveMobilePlatforms.

Specified by:

getDegreeOfFreedom in interface com.kuka.jogging.provider.api.common.ICartesianJoggingSupport

Returns:

the degree of freedom (3)

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.

jog

public void jog(double[] cartesianVelocities)

Initiates jogging on the appropriate coordinates with the given velocities.

Specified by:

jog in interface com.kuka.jogging.provider.api.common.ICartesianJoggingSupport

Parameters:

cartesianVelocities - double array containing the requested jogging velocity values. always shall contain 3 elements in the proper order - [0]: CartesianCoordinates.X, [1]: CartesianCoordinates.Y, [2]: CartesianCoordinates.Theta. Possible velocity values are between -1...1.

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.

setJoggingBase

public void setJoggingBase(com.kuka.roboticsAPI.geometricModel.Frame baseFrame)

Specified by:

setJoggingBase in interface com.kuka.jogging.provider.api.common.ICartesianJoggingSupport

refreshHardwareVersion

public com.kuka.roboticsAPI.controllerModel.StatePortState refreshHardwareVersion()

Overrides:

refreshHardwareVersion in class com.kuka.roboticsAPI.deviceModel.MobilePlatform

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.

isJointPositionInfoCapable

public boolean isJointPositionInfoCapable()

Overrides:

isJointPositionInfoCapable in class com.kuka.roboticsAPI.deviceModel.MobilePlatform

getCurrentJointPosition

public double[] getCurrentJointPosition()

Returns the lifting device joint position of the KMP.

Overrides:

getCurrentJointPosition in class com.kuka.roboticsAPI.deviceModel.MobilePlatform

Returns:

double array representing the joint positions

registerCapability

public static boolean registerCapability(Class<? extends ICapability> capabilityInterface,
                                         ICapability capability)

Registers a Capability under a given interface to the SunriseOmniMoveMobilePlatform.

Parameters:

capabilityInterface - The implemented interface

capability - The implementation

Returns:

True is registered, false is the interface was already registered to a different implementation

getCapability

public <T extends ICapability> T getCapability(Class<T> capabilityInterface)

Gets the requested ICapabliity implementation.

Type Parameters:

T - The class of the capability interface.

Parameters:

capabilityInterface - The requested Capability interface

Returns:

The registered implementation of the requested interface

hasCapability

public boolean hasCapability(Class<? extends ICapability> capabilityInterface)

Gets whether the device has a given capability.

Parameters:

capabilityInterface - The capability to look for

Returns:

True,if the device has such capability, false otherwise

getCapabilities

public Set<Class<? extends ICapability>> getCapabilities()

Returns all available capability for the device.

Returns:

Set of available capabilities