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

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

Direct Known Subclasses:

BrakeTestMapper, ConditionCommandMapper, InstructionMapper, MotionMapper, RecordingCommandMapper, SplineMotionMapper, SPRMapper, StatisticCommandMapper

public abstract class CommandMapper
extends SunriseMapper

Base class for sunrise command mappers.

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

CommandMapper()

Method Summary

protected void	checkControlModeValid(IMotionControlMode mode, Robot robot, IKROSMotion motion) Checks that the selected motion control mode is supported by the given robot and that the motion is supported by the motion control mode.
protected void	mapMotionOverlay(SunriseMappingToken info, IKROSMotion motion) Maps a motion overlay of the given motion.
protected void	mapStopConditions(SunriseMappingToken info, IKROSMotion motion) Maps all stop conditions of the given motion.
protected void	mapTrigger(SunriseMappingToken info, IKROSMotion motion) Maps a trigger condition of the given motion.
protected static void	registerForRobotObserverReturnValues(SunriseMappingToken info) Register the return values of the RobotObserver ("LBRExtTorqueObs").
DeviceMappingResult	startDeviceMapping(SunriseMappingToken info, DeviceMappingType mappingType, IMotionControlMode controlMode) Starts the mapping of a device.

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

beforeMap

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

getMapperTable, getMappingTypes, map, performMapping, register

Methods inherited from class java.lang.Object

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

Constructor Detail

CommandMapper

public CommandMapper()

Method Detail

startDeviceMapping

public DeviceMappingResult startDeviceMapping(SunriseMappingToken info,
                                              DeviceMappingType mappingType,
                                              IMotionControlMode controlMode)

Starts the mapping of a device. You can use this method to combine the motion specific part of a command to the device specific part.

Parameters:

info - The mapping information for the current mapping process.

mappingType - Defines if this mapping should add a Cartesian or joint robot.

controlMode - the control mode for the motion(s)

Returns:

The in- and out- ports of the robot that can be connected to the motion part of the 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.

mapMotionOverlay

protected void mapMotionOverlay(SunriseMappingToken info,
                                IKROSMotion motion)

Maps a motion overlay of the given motion. Leaves the objectToMap untouched.

Parameters:

info - The info.

motion - The motion.

mapStopConditions

protected void mapStopConditions(SunriseMappingToken info,
                                 IKROSMotion motion)

Maps all stop conditions of the given motion. Leaves the objectToMap untouched.

Parameters:

info - The info.

motion - The motion.

mapTrigger

protected void mapTrigger(SunriseMappingToken info,
                          IKROSMotion motion)

Maps a trigger condition of the given motion. Leaves the objectToMap untouched.

Parameters:

info - mapping info

motion - the motion

registerForRobotObserverReturnValues

protected static void registerForRobotObserverReturnValues(SunriseMappingToken info)

Register the return values of the RobotObserver ("LBRExtTorqueObs").

Parameters:

info - mapping token

checkControlModeValid

protected void checkControlModeValid(IMotionControlMode mode,
                                     Robot robot,
                                     IKROSMotion motion)

Checks that the selected motion control mode is supported by the given robot and that the motion is supported by the motion control mode.

Parameters:

mode - the control mode for the motion

robot - the robot that should be moved

motion - the motion that should be performed