com.kuka.roboticsAPI.controllerModel.sunrise.api
Class FrameDefinitionList

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.api.FrameDefinitionList

All Implemented Interfaces:

com.kuka.common.IDataEquatable, IExpressionSegment, ISprComponent, ISegment

public class FrameDefinitionList
extends Module

Contains the frame definitions for a SPR.

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

FrameDefinitionList(SPR spr)
Creates a new FrameDefinitions compound.

Method Summary

void	addFrameSetting(DynamicFrameSetting frameSetting) Adds a dynamic frame setting to this definition list.
void	addFrameSetting(StaticFrameSetting frameSetting) Adds a static frame setting to this definition list.
StaticFrameSetting	addFrameSetting(String referenceFrame, ITransformation transformation, String targetFrame) Adds a static frame setting to the frame definitions of the SPR.
DynamicFrameSetting	addFrameSetting(String referenceFrame, OutPort port, String targetFrame) Adds a dynamic frame setting to the frame definitions of the SPR.
DynamicFrameSetting	getDynamicFrameSetting(String reference, String target) Gets the dynamic frame setting which connects the given reference and target frame.
Collection<DynamicFrameSetting>	getDynamicFrameSettings() Gets the dynamic frame settings of this definition list.
OutPort	getGraphOutport(String name) Gets the graph outport with the specified name.
StaticFrameSetting	getStaticFrameSetting(String reference, String target) Gets the static frame setting which connects the given reference and target frame.
Collection<StaticFrameSetting>	getStaticFrameSettings() Gets the static frame settings of this definition list.
boolean	hasSameDataAs(Object obj)
boolean	isEmpty() Determines whether this frame definition list contains some definitions.
void	onSerialization() Called when the SPR in which this compound is added, is serialized.
String	toString()

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, onAsyncEvent, onFinished, onInitialize, onSPRStateChanged, onSPRStateChangedSync, setInstanceName, setName, tryGetParameter

Methods inherited from class java.lang.Object

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

Constructor Detail

FrameDefinitionList

public FrameDefinitionList(SPR spr)

Creates a new FrameDefinitions compound.

Parameters:

spr - SPR for which this instance is created.

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

getDynamicFrameSetting

public final DynamicFrameSetting getDynamicFrameSetting(String reference,
                                                        String target)

Gets the dynamic frame setting which connects the given reference and target frame. Fails if the frame setting is not found.

Parameters:

reference - The reference name.

target - The target name.

Returns:

The dynamic frame setting.

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.

getStaticFrameSetting

public final StaticFrameSetting getStaticFrameSetting(String reference,
                                                      String target)

Gets the static frame setting which connects the given reference and target frame. Fails if the frame setting is not found.

Parameters:

reference - The reference name.

target - The target name.

Returns:

The static frame setting.

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.

getStaticFrameSettings

public final Collection<StaticFrameSetting> getStaticFrameSettings()

Gets the static frame settings of this definition list.

Returns:

The static frame settings of this definition list.

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.

getDynamicFrameSettings

public final Collection<DynamicFrameSetting> getDynamicFrameSettings()

Gets the dynamic frame settings of this definition list.

Returns:

The dynamic frame settings of this definition list.

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.

addFrameSetting

public void addFrameSetting(StaticFrameSetting frameSetting)

Adds a static frame setting to this definition list.

Parameters:

frameSetting - The frame setting to be added.

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.

addFrameSetting

public void addFrameSetting(DynamicFrameSetting frameSetting)

Adds a dynamic frame setting to this definition list.

Parameters:

frameSetting - The frame setting to be added.

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.

addFrameSetting

public StaticFrameSetting addFrameSetting(String referenceFrame,
                                          ITransformation transformation,
                                          String targetFrame)

Adds a static frame setting to the frame definitions of the SPR.

Parameters:

referenceFrame - The reference frame.

transformation - The static transformation.

targetFrame - The target frame.

Returns:

The newly created frame setting.

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.

addFrameSetting

public DynamicFrameSetting addFrameSetting(String referenceFrame,
                                           OutPort port,
                                           String targetFrame)

Adds a dynamic frame setting to the frame definitions of the SPR.

Parameters:

referenceFrame - The reference frame.

port - The port bringing in the dynamic values.

targetFrame - The target frame.

Returns:

The newly created frame setting.

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.

getGraphOutport

public OutPort getGraphOutport(String name)

Gets the graph outport with the specified name. Adds a new port if necessary.

Parameters:

name - The name of the desired port.

Returns:

The port corresponding to the given name.

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.

isEmpty

public boolean isEmpty()

Determines whether this frame definition list contains some definitions.

Returns:

True if frame definitions are present, 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.

toString

public String toString()

Overrides:

toString in class SPRComponent

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.

hasSameDataAs

public boolean hasSameDataAs(Object obj)

Specified by:

hasSameDataAs in interface com.kuka.common.IDataEquatable

Overrides:

hasSameDataAs in class SPRComponent

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.

onSerialization

public void onSerialization()

Called when the SPR in which this compound is added, is serialized.

Overrides:

onSerialization in class SPRComponent