com.kuka.roboticsAPI.controllerModel.sunrise
Class DeviceMappingSnapshot

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.DeviceMappingSnapshot

public class DeviceMappingSnapshot
extends Object

Contains device information that is used at mapping, for example the information needed for setting the reset flag in the spline motion mapping (first motion, stop condition fired etc).

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

DeviceMappingSnapshot()
Constructor.

Method Summary

void	clear() Reset the state of the snapshot after mapping.
boolean	getControlModeChanged()
boolean	getEnforceMsr2Cmd()
boolean	hasLastMotionAnOverlay()
boolean	isAlwaysReset() Getter.
boolean	isCmd2MsrSPRSuppressed()
boolean	isFirstMotion() Getter.
boolean	isImpedanceSpeedLimitDetectionNeeded()
boolean	isPerformInitialCmd2Msr()
boolean	isReset() Getter.
boolean	isValidateInitialCmd2Msr()
void	setAlwaysReset(boolean alwaysReset) Setter.
void	setControlModeParametersChanged(boolean controlModeParametersChanged)
void	setEnforceMsr2Cmd(boolean needMsr2Cmd) Use to force a Msr2Cmd before the next command.
void	setMotionControlMode(IMotionControlMode controlMode) Remembers the control mode of last motion.
void	setMotionHasOverlay(boolean wasOverlayed) Set the motion overlay flag.
void	setMotionIsSplineMotion(boolean isSplineMotion) If the currently mapped motion and the latest mapped motion differs with their motion types.
void	setMotionIsSyncMotion(boolean synchron) Set the motion is synchronous flag.
void	setNeedImpedanceSpeedLimitDetection(boolean needImpedanceSpeedLimitDetection)
void	setPerformInitialCmd2Msr(boolean performInitialCmd2Msr)
void	setSuppressCmd2MsrSPR(boolean shouldSuppress) Suppress the cmd2Msr SPR.
void	setTaskFrame(AbstractFrame taskFrame) Set the task frame.
void	setValidateInitialCmd2Msr(boolean validateInitialCmd2Msr) Set the validate initial Msr2Cmd for jogging flag.
void	setWasLastSplineMotionWithECO(boolean wasLastSplineMotionWithECO) Set whether last spline motion had ECO (elasticity compensation).
boolean	wasLastMappedMotionSplineMotion()
boolean	wasLastMotionSync()
boolean	wasLastSplineMotionWithECO()

Methods inherited from class java.lang.Object

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

Constructor Detail

DeviceMappingSnapshot

public DeviceMappingSnapshot()

Constructor.

Method Detail

isFirstMotion

public boolean isFirstMotion()

Getter.

Returns:

firstMotion

isReset

public boolean isReset()

Getter.

Returns:

reset

clear

public void clear()

Reset the state of the snapshot after mapping.

isAlwaysReset

public boolean isAlwaysReset()

Getter.

Returns:

isAlwaysReset

setAlwaysReset

public void setAlwaysReset(boolean alwaysReset)

Setter.

Parameters:

alwaysReset - true, when all motions should have the reset flag set.

setMotionControlMode

public void setMotionControlMode(IMotionControlMode controlMode)

Remembers the control mode of last motion. Sets a flag to true, when the new control mode differs from the stored one.

Parameters:

controlMode - the motion control mode

setMotionIsSplineMotion

public void setMotionIsSplineMotion(boolean isSplineMotion)

If the currently mapped motion and the latest mapped motion differs with their motion types. (Spline Motion / any other motion type)

Parameters:

isSplineMotion - true, when currently mapped motion is a spline motion

wasLastMappedMotionSplineMotion

public boolean wasLastMappedMotionSplineMotion()

Returns:

true, when the last mapped motion was a spline motion

isPerformInitialCmd2Msr

public boolean isPerformInitialCmd2Msr()

Returns:

true, when the Cmd2Msr should be performed

setPerformInitialCmd2Msr

public void setPerformInitialCmd2Msr(boolean performInitialCmd2Msr)

Parameters:

performInitialCmd2Msr - true, when Cmd2Msr to be performed at start of application.

setControlModeParametersChanged

public void setControlModeParametersChanged(boolean controlModeParametersChanged)

Parameters:

controlModeParametersChanged - true, when the parameters of the control mode changed. Remains false, when the control mode is different

getControlModeChanged

public boolean getControlModeChanged()

Returns:

true if the controlModeChanged, false if otherwise

setNeedImpedanceSpeedLimitDetection

public void setNeedImpedanceSpeedLimitDetection(boolean needImpedanceSpeedLimitDetection)

Parameters:

needImpedanceSpeedLimitDetection - true, add CartLimiter as Detector to SPR after assignments are complete

isImpedanceSpeedLimitDetectionNeeded

public boolean isImpedanceSpeedLimitDetectionNeeded()

Returns:

true, when needed ...

setEnforceMsr2Cmd

public void setEnforceMsr2Cmd(boolean needMsr2Cmd)

Use to force a Msr2Cmd before the next command.

Parameters:

needMsr2Cmd - true to add a Msr2Cmd SPR in front of the next command false to remove this explicit use of a Msr2Cmd

getEnforceMsr2Cmd

public boolean getEnforceMsr2Cmd()

Returns:

true if a Msr2Cmd SPR is required

setMotionHasOverlay

public void setMotionHasOverlay(boolean wasOverlayed)

Set the motion overlay flag.

Parameters:

wasOverlayed - true if the motion is overlaid, false otherwise

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.

hasLastMotionAnOverlay

public boolean hasLastMotionAnOverlay()

Returns:

true if the last motion was overlaid, false otherwise

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.

wasLastMotionSync

public boolean wasLastMotionSync()

Returns:

true if the last motion was async, false otherwise.

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.

setMotionIsSyncMotion

public void setMotionIsSyncMotion(boolean synchron)

Set the motion is synchronous flag.

Parameters:

synchron - true if the motion is synchronous, false otherwise

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.

setTaskFrame

public void setTaskFrame(AbstractFrame taskFrame)

Set the task frame.

Parameters:

taskFrame - the task frame of the current motion

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.

setSuppressCmd2MsrSPR

public void setSuppressCmd2MsrSPR(boolean shouldSuppress)

Suppress the cmd2Msr SPR.

Parameters:

shouldSuppress - true if cmd2Msr SPR should be suppressed

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.

isCmd2MsrSPRSuppressed

public boolean isCmd2MsrSPRSuppressed()

Returns:

true if Cmd2Msr-SPR is suppressed, false otherwise.

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.

isValidateInitialCmd2Msr

public boolean isValidateInitialCmd2Msr()

Returns:

true if a Msr2Cmd SPR is required

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.

setValidateInitialCmd2Msr

public void setValidateInitialCmd2Msr(boolean validateInitialCmd2Msr)

Set the validate initial Msr2Cmd for jogging flag.

Parameters:

validateInitialCmd2Msr - true, if the initial Msr2Cmd needs to be validated

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.

wasLastSplineMotionWithECO

public boolean wasLastSplineMotionWithECO()

Returns:

true when last spline motion was with ECO.

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.

setWasLastSplineMotionWithECO

public void setWasLastSplineMotionWithECO(boolean wasLastSplineMotionWithECO)

Set whether last spline motion had ECO (elasticity compensation).

Parameters:

wasLastSplineMotionWithECO - true when last spline motion was with ECO.

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.