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

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

Direct Known Subclasses:

SplineMapperCP, SplineMapperJP

public abstract class SplineMotionMapper
extends CommandMapper

This is the CommandMapper for the SplineMotionModule. Each motion will be mapped to one SPR. In the SPR there is one module that will handle parameters, IN- and OUTPorts, stop conditions and requests (stop/pause).

Field Summary

static String

SPLINE_MOTION_SPR_NAME Constant for the name of the spline motion SPR.

Constructor Summary

SplineMotionMapper()

Method Summary

protected void	beforeMap(SunriseMappingToken info) Sets device mapping snapshot information before mapping.
protected void	checkCommandParams(com.kuka.common.params.ParameterSet commandParams) Checks command parameters.
protected SplineMotion<?>	createAndCheckSpline(SunriseMappingToken info) Creates and checks a spline.
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, getMappingTypes, performMapping, register

Methods inherited from class java.lang.Object

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

Field Detail

SPLINE_MOTION_SPR_NAME

public static final String SPLINE_MOTION_SPR_NAME

Constant for the name of the spline motion SPR.

See Also:

Constant Field Values

Constructor Detail

SplineMotionMapper

public SplineMotionMapper()

Method Detail

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.

checkCommandParams

protected void checkCommandParams(com.kuka.common.params.ParameterSet commandParams)

Checks command parameters.

Parameters:

commandParams - the parameters

createAndCheckSpline

protected SplineMotion<?> createAndCheckSpline(SunriseMappingToken info)

Creates and checks a spline.

Parameters:

info - mapping information

Returns:

spline motion