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

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SplineMotionMappingHelper

public class SplineMotionMappingHelper
extends Object

Helper functions, used also by the Connectivity mapping.

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

SplineMotionMappingHelper()

Method Summary

static void	addCartVelLimiter(Robot robot, SPR motionSPR, OverrideMappingHelper motionModule, ApplicationStateModule appStateModule) Add the Cartesian velocity limiter to motion modules.
static void	addFinishNowStopCondition(SPR splineMotionSPR, StopEvaluatorModule stopEvaluator, DeviceMappingResult robotPorts) Add a finish now stop condition to the SPR for stop requests.
static ApplicationStateModule	getApplicationStateModule(Controller controller) Get the reference to the application state module from the controller.

Methods inherited from class java.lang.Object

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

Constructor Detail

SplineMotionMappingHelper

public SplineMotionMappingHelper()

Method Detail

addFinishNowStopCondition

public static void addFinishNowStopCondition(SPR splineMotionSPR,
                                             StopEvaluatorModule stopEvaluator,
                                             DeviceMappingResult robotPorts)

Add a finish now stop condition to the SPR for stop requests.

Parameters:

splineMotionSPR - the SPR

stopEvaluator - the stop evaluator module

robotPorts - the robot ports

addCartVelLimiter

public static void addCartVelLimiter(Robot robot,
                                     SPR motionSPR,
                                     OverrideMappingHelper motionModule,
                                     ApplicationStateModule appStateModule)

Add the Cartesian velocity limiter to motion modules. If the given ApplicationStateModule is null, CartesianVelocityLimiterModule.OvDes will not be connected with ApplicationState.EffectiveOverrideOut resulting in a default EffectiveOverride of 1.0

Parameters:

robot - the root

motionSPR - the motion SPR

motionModule - the motion module

appStateModule - the Application State Module

getApplicationStateModule

public static ApplicationStateModule getApplicationStateModule(Controller controller)

Get the reference to the application state module from the controller.

Parameters:

controller - the controller

Returns:

the application state module