Uses of Class
com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR

Packages that use SPR

com.kuka.roboticsAPI.controllerModel	Contains the controller classes for accessing a controller and it's services.
com.kuka.roboticsAPI.controllerModel.sunrise	Contains the controller implementation for the sunrise controller including it's IO interface.
com.kuka.roboticsAPI.controllerModel.sunrise.api	Contains the necessary objects to work with Sunrise.
com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest	Contains the brake test for LBR iiwa.
com.kuka.roboticsAPI.controllerModel.sunrise.conditions	Contains the Sunrise implementation of the conditions interface and listener execution.
com.kuka.roboticsAPI.controllerModel.sunrise.mapping	Contains the sunrise specific mapping algorithms, that convert RoboticsAPI objects to a series of SPRs.
com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds	Contains predefined compounds for Sunrise.
com.kuka.roboticsAPI.controllerModel.sunrise.xml	Contains the xmlsua implementation.
com.kuka.roboticsAPI.motionModel	Contains classes for describing motions.
com.kuka.roboticsAPI.requestModel	This package contains the request definition and predefined requests.

Uses of SPR in com.kuka.roboticsAPI.controllerModel

Methods in com.kuka.roboticsAPI.controllerModel that return SPR

abstract SPR

RecordingService.getRecordingSPR(DataRecorder dataRecorder) Provides the recording SPR in which the dataRecorder is running.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise

Methods in com.kuka.roboticsAPI.controllerModel.sunrise that return SPR

SPR	SunriseController.getApplicationStateSPR() Get application state SPR.
abstract SPR	AbstractSunriseController.getApplicationStateSPR() Application state.
SPR	SunriseRecordingCommand.getRecordingSPR() Gets the recording SPR.
SPR	SunriseRecordingService.getRecordingSPR(DataRecorder dataRecorder) Provides the recording SPR in which the dataRecorder is running.
SPR	SPRRuntime.getSPR() Gets the SPR with which this runtime object is associated.
SPR	SprPrimitive.getSPR() Returns the SPR of this SprPrimitive.
SPR	SPRCommand.getSPR() The SPR assigned to this command.
SPR	SPRRuntime.getStackRepresentative() Returns the SPR that is the representative for a SPR stack.
SPR	TorqueStatisticCommand.getStatisticSPR() Gets the statistic SPR.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise that return types with arguments of type SPR

Collection<SPR>	SprPrimitive.getAllSprs() Returns all SPRs that this Primitive consists of.
abstract Collection<SPR>	Primitive.getAllSprs() Returns all SPRs that this Primitive consists of.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type SPR

void	ParameterConfiguration.addAdditionalParameters(SPR spr) Add all configured additional parameters to the specified spr.
void	IPrimitiveCallback.beforeSprReplacement(SPR newSpr, SPR oldSpr) This method will synchronously called by StackPrimitive#handleSprReplacement(SPR, SPR) before the replacement takes place.
void	SunriseApplication.cancel(SPR spr) Cancels the given SPR.
void	SunriseController.cancelSPR(SPR spr)
protected FiredConditionInfo	Primitive.createFiredConditionInfo(SPR spr, SunriseStopCondition stopCondition) Creates the fired condition information.
ICommandContainer	SunriseApplication.execute(SPR spr) Executes the given SPR synchronously.
ICommandContainer	SunriseApplication.execute(SPR spr, boolean blocking) Executes the given SPR.
ICommandContainer	SunriseExecutionService.executeSPR(SPR spr) Executes the specified SPR.
ICommandContainer	SunriseController.executeSPR(SPR spr)
static Assignment	SPRUtilities.findAssignment(SPR spr, InPort inport) Looks for assignment that connects the specified InPort in the given SPR.
static <T extends ISprComponent> T	SPRUtilities.findCompound(SPR spr, Class<T> cl) Finds the first instance of the specified compound in the given SPR.
protected void	Primitive.handleSprCompoundEvent(SPR spr, Message msg) Called when one of the SPR compounds has thrown an event.
protected void	MotionSprPrimitive.handleSprCompoundEvent(SPR spr, Message msg)
protected void	SprPrimitive.handleSprStateChanged(SPR eventSpr, SPRState newState)
protected void	Primitive.handleSprStateChanged(SPR eventSpr, SPRState newState) Called when the state of the given SPR changed.
void	MotionIDSetter.onSPRIdCreated(SPR spr, long sprID) Called when a new SPR ID is created.
protected void	Primitive.registerAsSprListener(SPR spr) Registers this primitive for SPR state events.
protected void	SunriseConnection.sendSPR(SPR spr) Sends a SPR to Sunrise.
void	SunriseRequestService.sendSPRAsSSR(SPR spr) Sends a SPR to Sunrise.
void	ISunriseRequestService.sendSPRAsSSR(SPR spr) Sends a SPR to Sunrise.
void	SunriseRecordingCommand.setRecordingSPR(SPR recordingSpr) Sets the recording SPR.
void	SPRRuntime.setStackRepresentative(SPR stackRepresentative) Sets the SPR that is the representative for a SPR stack.
void	TorqueStatisticCommand.setStatisticSPR(SPR spr) Sets the statistic SPR.
static String	SPRUtilities.sprIdToString(SPR spr) Converts SPR id to hexadecimal string representation.
protected com.kuka.common.Pair<ExecutionState,String>	Primitive.stateFromSpr(SPR spr, SPRState newState) Utility method: Examines the given SPR and the given state for error conditions and maps them to an ExecutionState.
static void	SPRUtilities.twoInOneAssignment(SPR spr, InPort destinationPort, OutPort translationSourcePort, OutPort rotationSourcePort) Assigns translation and orientation parts of a matrix inports from two different outports.
protected void	Primitive.unregisterAsSprListener(SPR spr) Unregisters this primitive from SPR state events.
void	SunriseApplication.update(SPR spr) Updates the given SPR.
protected void	SunriseConnection.updateSPR(SPR spr) Updates the given SPR.

Method parameters in com.kuka.roboticsAPI.controllerModel.sunrise with type arguments of type SPR

void	ISPRHook.onCommandMapped(SunriseController controller, IControllerCommand command, List<SPR> sprs) Called when a command was mapped.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise with parameters of type SPR

MotionSprPrimitive(SunriseExecutionContainer container, SPR motionSPR)
Creates a new instance of this MotionSprPrimitive.

SPRCommand(SPR spr, Controller controller)
Creates a new SPRCommand object.

SprPrimitive(SunriseExecutionContainer container, SPR spr)
Creates a new instance of this Primitive.

SprPrimitive(SunriseExecutionContainer container, SPR spr, boolean canResumeAfterPause)
Creates a new instance of this Primitive.

SPRRuntime(SPR spr)
Creates an instance of the class for the specified SPR.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.api

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api that return SPR

SPR	SPRComponent.getSPR() Gets the parent SPR.
SPR	ISprComponent.getSPR() Gets the parent SPR.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.api with parameters of type SPR

void	ICompoundEventListener.onCompoundEvent(SPR spr, Message msg) Called when one of the SPR compounds has raised an event.
void	ISPRIdListener.onSPRIdCreated(SPR spr, long sprID) Called when a new SPR ID is created.
void	ISPRStateListener.onSPRStateChanged(SPR spr, SPRState newState) Called when the state of the given SPR changed.
static Message	SegmentedMessageSerializer.serialize(SPR spr) Serializes the given SPR in a message and returns the message.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.api with parameters of type SPR

DeviceObserverModule(String observerName, String deviceName, SPR parent)
Creates a new instance of a device observer.

FrameDefinitionList(SPR spr)
Creates a new FrameDefinitions compound.

ObserverModule(String name, SPR parent)
A observer is a special module with no inports.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest with parameters of type SPR

protected void

BrakeTestSprPrimitive.handleSprCompoundEvent(SPR spr, Message msg)

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest with parameters of type SPR

BrakeTestSprPrimitive(SunriseExecutionContainer container, SPR spr)
Creates a new instance of this MotionSprPrimitive.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.conditions

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.conditions that return SPR

SPR	SunriseConditionCommand.getEventSPR() Get a event SPR.
SPR	SunriseConditionObserver.getSPR() Returns the SPR.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.conditions with parameters of type SPR

void	SunriseConditionObserver.onCompoundEvent(SPR spr, Message message) Called when one of the SPR compounds has raised an event.
void	SunriseConditionCommand.setEventSPR(SPR conditionObserverSPR) Set an event SPR.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.conditions with parameters of type SPR

SunriseTriggerConditionObserver(ICondition condition, ITriggerAction listener, SPR spr, AbstractMotionContainer motionContainer, RequestService requestService)
Constructor to create a sunrise trigger observer.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.mapping

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping that return SPR

SPR	SplineMotionSPRBuilder.build() Creates an SPR for the SplineMotionModule.
SPR	MeasureToCommandSPRBuilder.build() Builds the SPR.
static SPR	BrakeTestSprFactory.createBrakeTestSpr(BrakeTest objToMap, Robot robot) Creates and assembles a SPR for a brake test.
SPR	SunriseMappingToken.getCurrentSPR() Gets the current SPR for the current mapping process.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type SPR

static void	SplineMotionSPRBuilder.addCartVelLimiter(Robot robot, SPR motionSPR, OverrideMappingHelper motionModule, ApplicationStateModule appStateModule) Add the Cartesian velocity limiter to motion modules.
static void	SplineMotionMappingHelper.addCartVelLimiter(Robot robot, SPR motionSPR, OverrideMappingHelper motionModule, ApplicationStateModule appStateModule) Add the Cartesian velocity limiter to motion modules.
static void	SplineMotionMappingHelper.addFinishNowStopCondition(SPR splineMotionSPR, StopEvaluatorModule stopEvaluator, DeviceMappingResult robotPorts) Add a finish now stop condition to the SPR for stop requests.
void	SunriseMappingToken.addSprAsFirstPrimitive(SPR spr, boolean setAsCurrentSPR) Convenience method (backwards compatibility): Adds the given SPR in the front of the list of primitives.
void	SunriseMappingToken.addSprAsPrimitive(SPR spr) Convenience method (backwards compatibility): Adds the given SPR to the list of primitives.
static void	StopMotionMappingHelper.addStopEvaluatorAssignments(StopEvaluatorModule stopEvaluatorModule, SPR spr, Controller controller, OutPort axisQCmd, OutPort ipoStopped, int jointCount) Adds the assignment for the StopEvaluatorModule to the specified ports.
static void	StopMotionMappingHelper.addStopEvaluatorAssignmentsForSimulinkCompounds(StopEvaluatorModule stopEvaluatorModule, SPR spr, Controller controller, OutPort axisQCmd, OutPort ipoStopped, int jointCount, boolean ipoStoppedIn) Adds the assignment for the StopEvaluatorModule to the specified ports for Simulink Compounds.
static void	StopMotionMappingHelper.assignStopMotionRequestToActiveDevice(Controller controller, SPR spr) Adds the assignment of ApplicationStateSPR.StopRequest to the SPR active device's StopRequest.
static RobotObserver	RobotMapper.createObserver(Robot robot, SPR spr) Creates an observer for the given robot.
RobotObserver	SunriseMappingToken.getUniqueRobotObserverInstance(Robot robot, SPR spr) Gets a unique robot observer instance for one complete mapping process.
void	SunriseMappingToken.setCurrentSPR(SPR spr) Sets the current SPR for the current mapping process.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.mapping with parameters of type SPR

ForceMappingInformation(int id, SPR spr, Robot robot, RobotObserver observer)
Initializes the helper class.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type SPR

void	CartesianVelocityLimiter.addCartesianVelocityAssignment(SPR sprToAdd) Adds an assignment between the Cartesian Velocity Limit input of this instance of the Cartesian Velocity Limiter module and the corresponding output of the SafetySignalObs module.
void	AxisValidatorModule.configure(Robot robot, IMotionControlMode mode, SPR spr, boolean useAxisLimit) Configures the validator module.
void	RemoteModule.onSPRStateChanged(SPR spr, SPRState newState) Called when the state of the given SPR changed.

Constructors in com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds with parameters of type SPR

CartesianVelocityModule(SPR spr, Controller controller, VelocityControlledCartesianMotion motion)
Initializes the instance of the JointVelocityModule class.

JointVelocityModule(SPR spr, Controller controller, VelocityControlledJointMotion motion)
Initializes the instance of the JointVelocityModule class.

RemoteModule(SPR spr, Controller controller)
Creates a new remote module.

RobotObserver(String observerName, String robotName, SPR parent)
Creates a new PipeObserver instance.

SafetySignalObs(String robotName, SPR parent)
Creates a new SafetySignalObs instance.

Uses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.xml

Subclasses of SPR in com.kuka.roboticsAPI.controllerModel.sunrise.xml

class

XmlSPR A XmlSPR is created out of a xml representation in the file system.

Methods in com.kuka.roboticsAPI.controllerModel.sunrise.xml with parameters of type SPR

static void	XmlSerializer.save(SPR spr, String filename) Saves the SPR to the given file using the specified description.
static void	XmlSerializer.save(SPR spr, String filename, String description) Saves the SPR to the given file using the specified description.
static String	JavaSPR.toJavaCode(SPR spr) Transforms the given SPR to java code.

Uses of SPR in com.kuka.roboticsAPI.motionModel

Methods in com.kuka.roboticsAPI.motionModel that return SPR

SPR	JoggingRuntimeData.getJoggingSPR() Gets the SPR for this jogging command.

Uses of SPR in com.kuka.roboticsAPI.requestModel

Methods in com.kuka.roboticsAPI.requestModel that return SPR

SPR	ConditionObserverRequest.getSPR() Get the SPR handled by this behavior.

Constructors in com.kuka.roboticsAPI.requestModel with parameters of type SPR

ConditionObserverRequest(SPR spr, int conditionId, String command)
Creates a new request instance.