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

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

Direct Known Subclasses:

CartesianImpedanceControlModeMapper, JointImpedanceControlModeMapper, PositionControlModeMapper

public abstract class RobotMapper
extends SunriseMapper

Mapper for robot objects.

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.

Nested Class Summary

static class

RobotMapper.ValueType Which type of measurement to use by default.

Field Summary

protected static String	DEVICE_MAPPING_ALPHA_INPORT Key used to identify alpha inport of device.
protected static String	DEVICE_MAPPING_PORTS_KEY Key used to identify the device mapping ports data.
protected static String	DEVICE_MAPPING_TYPE_KEY Key used to identify the device mapping type data.
static String	IGNORE_MASTERING_STATE If this key is set, the motion will not be stopped if the robot is unmastered.
static String	NO_AXIS_LIMIT If this key is set validator module will not take axis limit into account.
static String	NO_DEFAULT_STOP_STRATEGY If this key is set, no default mapping of the safety stop signal will be applied.

Constructor Summary

RobotMapper()

Method Summary

protected boolean	addAxisValidator(ISunriseRobot robot) Indicates that the axis validator should be included and assigned to the resulting SPR.
static RobotObserver	createObserver(Robot robot, SPR spr) Creates an observer for the given robot.
static IMotionControlMode	getCurrentMotionControlMode(Device currentRobot) Gets the current motion control mode of the given robot.
protected static OutPort	getObserverAlphaOutport(Robot robot, RobotObserver observer) Gets the alpha output port of the observer depending on the last motion.
protected static OutPort	getObserverCartPositionOutport(Robot robot, RobotObserver observer) Gets the cartesian position output port of the observer depending on the last motion.
protected static String	getPipeName(ISunriseRobot robot, IMotionControlMode mode) Gets the name of the pipe for the specified device and controlMode.
void	map(SunriseMappingToken info) This method is called when the mapper should map a command for which it is registered.
protected abstract void	mapControlMode(SunriseMappingToken info, IMotionControlMode mode, DeviceMappingResult mapResult) Specialized control mode mapping.
protected abstract IMotionControlMode	normalizeControlMode(SunriseMappingToken info, IMotionControlMode originalMode) Normalizes the control mode that will be mapped.

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

beforeMap

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

getMapperTable, getMappingTypes, performMapping, register

Methods inherited from class java.lang.Object

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

Field Detail

NO_AXIS_LIMIT

public static final String NO_AXIS_LIMIT

If this key is set validator module will not take axis limit into account.

See Also:

Constant Field Values

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.

NO_DEFAULT_STOP_STRATEGY

public static final String NO_DEFAULT_STOP_STRATEGY

If this key is set, no default mapping of the safety stop signal will be applied. This can be used to apply your own (safety) mapping (note: You have to assign the InPort 'StopRequest' of the pipe, otherwise the SPR will fail).

See Also:

Constant Field Values

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.

IGNORE_MASTERING_STATE

public static final String IGNORE_MASTERING_STATE

If this key is set, the motion will not be stopped if the robot is unmastered. The default behavior is that a motion will be stopped with an error as soon as the robot is unmastered.

See Also:

Constant Field Values

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.

DEVICE_MAPPING_TYPE_KEY

protected static final String DEVICE_MAPPING_TYPE_KEY

Key used to identify the device mapping type data.

See Also:

Constant Field Values

DEVICE_MAPPING_PORTS_KEY

protected static final String DEVICE_MAPPING_PORTS_KEY

Key used to identify the device mapping ports data.

See Also:

Constant Field Values

DEVICE_MAPPING_ALPHA_INPORT

protected static final String DEVICE_MAPPING_ALPHA_INPORT

Key used to identify alpha inport of device.

See Also:

Constant Field Values

Constructor Detail

RobotMapper

public RobotMapper()

Method Detail

map

public final 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.

normalizeControlMode

protected abstract IMotionControlMode normalizeControlMode(SunriseMappingToken info,
                                                           IMotionControlMode originalMode)

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.

Parameters:

info - mapping token

originalMode - the original control mode

Returns:

the control mode that should be used for mapping

mapControlMode

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

Specialized control mode mapping.

Parameters:

info - mapping token

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

mapResult - Contains the result of a device mapping.

addAxisValidator

protected boolean addAxisValidator(ISunriseRobot robot)

Indicates that the axis validator should be included and assigned to the resulting SPR.

Parameters:

robot - Robot name

Returns:

true if the axis validator should be included, false otherwise.

getPipeName

protected static String getPipeName(ISunriseRobot robot,
                                    IMotionControlMode mode)

Gets the name of the pipe for the specified device and controlMode.

Parameters:

robot - the robot that executes the motion.

mode - motion control mode for the motion.

Returns:

the name of the pipe to be used for the control mode.

getObserverCartPositionOutport

protected static OutPort getObserverCartPositionOutport(Robot robot,
                                                        RobotObserver observer)

Gets the cartesian position output port of the observer depending on the last motion.

Parameters:

robot - the robot for the motion

observer - the used observer

Returns:

the measured or commanded cartesian position output port.

getObserverAlphaOutport

protected static OutPort getObserverAlphaOutport(Robot robot,
                                                 RobotObserver observer)

Gets the alpha output port of the observer depending on the last motion.

Parameters:

robot - the robot for the motion

observer - the used observer

Returns:

the measured or commanded alpha output port.

getCurrentMotionControlMode

public static IMotionControlMode getCurrentMotionControlMode(Device currentRobot)

Gets the current motion control mode of the given robot.

Parameters:

currentRobot - robot for which the control mode is used.

Returns:

the current control mode.

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.

createObserver

public static RobotObserver createObserver(Robot robot,
                                           SPR spr)

Creates an observer for the given robot.

Parameters:

robot - The robot.

spr - SPR for which created observer should be used.

Returns:

The created observer.

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.