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

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

public final class MotionMapper
extends CommandMapper

Maps some not standard motions like PositionHold, GravComp, Velocity controlled, batches..

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

MotionMapper()

Method Summary

protected void	beforeMap(SunriseMappingToken info) Sets device mapping snapshot information before mapping.
Collection<Class<?>>	getMappingTypes() Gets the mapping types which this mapper can map.
protected void	map(SunriseMappingToken info) This method is called when the mapper should map a command for which it is registered.

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.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

MotionMapper

public MotionMapper()

Method Detail

getMappingTypes

public Collection<Class<?>> getMappingTypes()

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.

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.

map

protected void map(SunriseMappingToken info)

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.

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.

beforeMap

protected void beforeMap(SunriseMappingToken info)

Sets device mapping snapshot information before mapping.

Overrides:

beforeMap in class SunriseMapper

Parameters:

info - The mapping information for the current mapping process.

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.