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

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

public class CartesianImpedanceControlModeMapper
extends RobotMapper

Mapper for CartesianImpedanceControlMode.

Nested Class Summary

Nested classes/interfaces inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.RobotMapper

RobotMapper.ValueType

Field Summary

Fields inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.RobotMapper

DEVICE_MAPPING_ALPHA_INPORT, DEVICE_MAPPING_PORTS_KEY, DEVICE_MAPPING_TYPE_KEY, IGNORE_MASTERING_STATE, NO_AXIS_LIMIT, NO_DEFAULT_STOP_STRATEGY

Constructor Summary

CartesianImpedanceControlModeMapper()

Method Summary

Collection<Class<?>>	getMappingTypes() Gets the mapping types which this mapper can map.
protected void	mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult) Maps a CartesianImpedanceControlMode instance.
protected CartesianImpedanceControlMode	normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode) Normalizes a CartesianImpedanceControlMode instance.

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

addAxisValidator, createObserver, getCurrentMotionControlMode, getObserverAlphaOutport, getObserverCartPositionOutport, getPipeName, map

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

beforeMap

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

getMapperTable, performMapping, register

Methods inherited from class java.lang.Object

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

Constructor Detail

CartesianImpedanceControlModeMapper

public CartesianImpedanceControlModeMapper()

Method Detail

getMappingTypes

public Collection<Class<?>> getMappingTypes()

Description copied from class: AbstractMapper

Gets the mapping types which this mapper can map. A type can be a command or a part of a command, depending on what the mapper is able to do. For example, the type could be an IAction, an IControllerCommand or an IStopCondition.

Specified by:

getMappingTypes in class AbstractMapper<SunriseMappingToken>

Returns:

The mapping types which this mapper can map. null is not allowed.

normalizeControlMode

protected CartesianImpedanceControlMode normalizeControlMode(SunriseMappingToken info,
                                                             IMotionControlMode originalMode)

Normalizes a CartesianImpedanceControlMode instance.

Specified by:

normalizeControlMode in class RobotMapper

Parameters:

info - mapping token

originalMode - the original control mode. Must be of type CartesianImpedanceControlMode or derived type.

Returns:

the control mode that should be used to set the pipe parameters. The returned instance is different from the instance given in the parameters. It's spring position (see CartesianImpedanceControlMode.getSpringPosition()) will always be set to a frame and will not be null.

mapControlMode

protected void mapControlMode(SunriseMappingToken info,
                              IMotionControlMode mode,
                              DeviceMappingResult mapResult)

Maps a CartesianImpedanceControlMode instance.

Specified by:

mapControlMode in class RobotMapper

Parameters:

info - mapping token

mode - The control mode. Must be of type CartesianImpedanceControlMode or derived types. This mode should be the result of a prior call to normalizeControlMode(SunriseMappingToken, IMotionControlMode) .

mapResult - Contains the result of a device mapping.