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

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

public class HandGuidingMapper
extends com.kuka.roboticsAPI.controllerModel.sunrise.mapping.CommandMapper

Mapper for HandGuidingMotion.

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

HandGuidingMapper()

Method Summary

protected void	addStopConditions(com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR handGuidingSPR, com.kuka.roboticsAPI.controllerModel.sunrise.api.Module handGuidingModule, com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.StopEvaluatorModule stopEval) Add stop conditions to SPR, i.e. speed limit exceeded, hand-guiding device released, and closing brakes.
protected com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR	configureHandGuidingSPR(com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR handGuidingSPR, com.kuka.roboticsAPI.deviceModel.Robot robot, com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.RobotObserver observer, com.kuka.roboticsAPI.motionModel.IKROSMotion motion, com.kuka.roboticsAPI.geometricModel.AbstractFrame motionFrame) Configures hand-guiding SPR.
protected void	configureRuntimeData(com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken info, com.kuka.roboticsAPI.motionModel.IKROSMotion motion, com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR spr) Configures hand-guiding runtime data.
protected void	configureStopConditions(com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR handGuidingSPR, HandGuidingModule handGuidingModule, com.kuka.roboticsAPI.deviceModel.Robot robot) Add stop conditions to SPR.
Collection<Class<?>>	getMappingTypes()
protected void	map(com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken info)
protected void	mapControlMode(com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken info, com.kuka.roboticsAPI.deviceModel.Robot robot, com.kuka.roboticsAPI.motionModel.IKROSMotion motion) Map hand-guiding control mode.

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

checkControlModeValid, mapMotionOverlay, mapStopConditions, mapTrigger, registerForRobotObserverReturnValues, startDeviceMapping

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

HandGuidingMapper

public HandGuidingMapper()

Method Detail

map

protected void map(com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken info)

Specified by:

map in class com.kuka.roboticsAPI.controllerModel.mapping.AbstractMapper<com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken>

configureRuntimeData

protected void configureRuntimeData(com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken info,
                                    com.kuka.roboticsAPI.motionModel.IKROSMotion motion,
                                    com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR spr)

Configures hand-guiding runtime data. No implementation of this method in this class, but it is implemented in derived classes.

Parameters:

info - Sunrise mapping token.

motion - Hand-guiding motion.

spr - SPR to configure.

mapControlMode

protected void mapControlMode(com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken info,
                              com.kuka.roboticsAPI.deviceModel.Robot robot,
                              com.kuka.roboticsAPI.motionModel.IKROSMotion motion)

Map hand-guiding control mode.

Parameters:

info - Sunrise mapping token.

robot - Robot to map.

motion - Hand-guiding motion with parameters.

configureHandGuidingSPR

protected com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR configureHandGuidingSPR(com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR handGuidingSPR,
                                                                                       com.kuka.roboticsAPI.deviceModel.Robot robot,
                                                                                       com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.RobotObserver observer,
                                                                                       com.kuka.roboticsAPI.motionModel.IKROSMotion motion,
                                                                                       com.kuka.roboticsAPI.geometricModel.AbstractFrame motionFrame)

Configures hand-guiding SPR.

Parameters:

handGuidingSPR - SPR to configure.

robot - Robot to map.

observer - Robot observer.

motion - Hand-guiding motion with parameters.

motionFrame - Motion frame (TCP of the attached tool) relative to the flange.

Returns:

Hand-guiding SPR.

addStopConditions

protected void addStopConditions(com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR handGuidingSPR,
                                 com.kuka.roboticsAPI.controllerModel.sunrise.api.Module handGuidingModule,
                                 com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.StopEvaluatorModule stopEval)

Add stop conditions to SPR, i.e. speed limit exceeded, hand-guiding device released, and closing brakes.

Parameters:

handGuidingSPR - The hand-guiding SPR.

handGuidingModule - The hand-guiding module.

stopEval - The stop evaluator module.

configureStopConditions

protected void configureStopConditions(com.kuka.roboticsAPI.controllerModel.sunrise.api.SPR handGuidingSPR,
                                       HandGuidingModule handGuidingModule,
                                       com.kuka.roboticsAPI.deviceModel.Robot robot)

Add stop conditions to SPR.

Parameters:

handGuidingSPR - Hand-guiding SPR.

handGuidingModule - Hand-guiding module.

robot - Robot for which the SPR is to be executed.

getMappingTypes

public Collection<Class<?>> getMappingTypes()

Specified by:

getMappingTypes in class com.kuka.roboticsAPI.controllerModel.mapping.AbstractMapper<com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken>