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

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.JointImpedanceControlModeMapper

public class JointImpedanceControlModeMapper
extends RobotMapper

Mapper for JointImpedanceControlMode.

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

JointImpedanceControlModeMapper()

Method Summary

Collection<Class<?>>	getMappingTypes() Gets the mapping types which this mapper can map.
protected void	mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult) Specialized control mode mapping.
protected JointImpedanceControlMode	normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode) Normalizes the control mode that will be mapped.

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

JointImpedanceControlModeMapper

public JointImpedanceControlModeMapper()

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 JointImpedanceControlMode normalizeControlMode(SunriseMappingToken info,
                                                         IMotionControlMode originalMode)

Description copied from class: RobotMapper

Normalizes the control mode that will be mapped. Usually this returns a copy of the original control mode, with context dependent parameters set to the concrete value used for this mapping.

Specified by:

normalizeControlMode in class RobotMapper

Parameters:

info - mapping token

originalMode - the original control mode

Returns:

the control mode that should be used for mapping

mapControlMode

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

Description copied from class: RobotMapper

Specialized control mode mapping.

Specified by:

mapControlMode in class RobotMapper

Parameters:

info - mapping token

mode - The control mode. This mode should be the result of a prior call to RobotMapper.normalizeControlMode(SunriseMappingToken, IMotionControlMode) .

mapResult - Contains the result of a device mapping.