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

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.SplineMotionMapper
                  com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SplineMapperCP

public final class SplineMapperCP
extends SplineMotionMapper

Mapper class used to map cartesian spline motions to a byte array. It is used for serialization of the spline for the transfer to the Sunrise-API.

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.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SplineMotionMapper

SPLINE_MOTION_SPR_NAME

Constructor Summary

SplineMapperCP()

Method Summary

protected SplineMotion<?>	createAndCheckSpline(SunriseMappingToken info) Creates and checks a spline.
Collection<Class<?>>	getMappingTypes() Gets the mapping types which this mapper can map.

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

beforeMap, checkCommandParams, map

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

SplineMapperCP

public SplineMapperCP()

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.

createAndCheckSpline

protected SplineMotion<?> createAndCheckSpline(SunriseMappingToken info)

Description copied from class: SplineMotionMapper

Creates and checks a spline.

Overrides:

createAndCheckSpline in class SplineMotionMapper

Parameters:

info - mapping information

Returns:

spline motion