com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Class AbstractConditionMapper

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.mapping.AbstractMapper<SunriseMappingToken>
      com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMapper
          com.kuka.roboticsAPI.controllerModel.sunrise.mapping.AbstractConditionMapper

Direct Known Subclasses:

ComplexConditionMapper, ErrStateDrivesConditionMapper, ForceConditionMapper, FrameDistanceConditionMapper, IOConditionMapper, MotionPathConditionMapper

public abstract class AbstractConditionMapper
extends SunriseMapper

Abstract Base class for condition mappers. To specify how the condition should be used, to following mapping tags are used:
- ConditionType: Type of the condition (required). Must be of type ConditionTypes
- TriggerAction: The action that should be executed when the condition type is a TriggerCondition (only required if condition type is TriggerCondition). Must be of type ITriggerAction

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.

Field Summary

static String	CONDITION_EVALUATOR_TAG_NAME The tag name for trigger actions.
static String	CONDITION_TYPE_TAG_NAME The tag name of the condition type.
static String	TRIGGER_ACTION_TAG_NAME The tag name for trigger actions.

Constructor Summary

AbstractConditionMapper()

Method Summary

protected String	getEdgeName(IConditionListener listener) Sets name and executor of the corresponding edge.
void	map(SunriseMappingToken info) This method is called when the mapper should map a command for which it is registered.
abstract String	mapEventCondition(ICondition condition, SunriseMappingToken info) Maps an event condition.
protected void	mapStopCondition(ICondition cond, SunriseMappingToken info) Maps a stop condition.
String	mapToSunriseConditionString(SunriseMappingToken info, ICondition condition) Maps the Condition to a Part SunriseConditionString which can be used within ComplexConditions.
abstract String	mapTriggerCondition(ICondition condition, SunriseMappingToken info) Maps a trigger condition.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMapper

beforeMap

Methods inherited from class com.kuka.roboticsAPI.controllerModel.mapping.AbstractMapper

getMapperTable, getMappingTypes, performMapping, register

Methods inherited from class java.lang.Object

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

Field Detail

CONDITION_TYPE_TAG_NAME

public static final String CONDITION_TYPE_TAG_NAME

The tag name of the condition type. This Tag must be set when mapping conditions.

See Also:

Constant Field Values

TRIGGER_ACTION_TAG_NAME

public static final String TRIGGER_ACTION_TAG_NAME

The tag name for trigger actions. This tag must be set when mapping trigger conditions.

See Also:

Constant Field Values

CONDITION_EVALUATOR_TAG_NAME

public static final String CONDITION_EVALUATOR_TAG_NAME

The tag name for trigger actions. This tag must be set when mapping trigger conditions.

See Also:

Constant Field Values

Constructor Detail

AbstractConditionMapper

public AbstractConditionMapper()

Method Detail

map

public final void map(SunriseMappingToken info)

Description copied from class: AbstractMapper

This method is called when the mapper should map a command for which it is registered. It is to be overridden by the descendant mappers.

Specified by:

map in class AbstractMapper<SunriseMappingToken>

Parameters:

info - The mapping information for the current mapping process.

mapTriggerCondition

public abstract String mapTriggerCondition(ICondition condition,
                                           SunriseMappingToken info)

Maps a trigger condition.

Parameters:

condition - the condition to map

info - mapping information

Returns:

mapping string

mapEventCondition

public abstract String mapEventCondition(ICondition condition,
                                         SunriseMappingToken info)

Maps an event condition.

Parameters:

condition - the condition to map

info - Mapping information

Returns:

mapping string

mapStopCondition

protected void mapStopCondition(ICondition cond,
                                SunriseMappingToken info)

Maps a stop condition.

Parameters:

cond - The condition to map

info - Mapping information

getEdgeName

protected String getEdgeName(IConditionListener listener)

Sets name and executor of the corresponding edge.

Parameters:

listener - Corresponding listener

Returns:

The specified edge listener

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.

mapToSunriseConditionString

public String mapToSunriseConditionString(SunriseMappingToken info,
                                          ICondition condition)

Maps the Condition to a Part SunriseConditionString which can be used within ComplexConditions.

Parameters:

info - The mapping information for the current mapping process.

condition - The current condition to map to a string

Returns:

A Sunrise Condition String, which will be used for building a complex condition.