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

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

public final class SplineMotionSPRBuilder
extends Object

Builder class for creating spline motion SPRs.

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

SplineMotionSPRBuilder()

Method Summary

static void	addCartVelLimiter(Robot robot, SPR motionSPR, OverrideMappingHelper motionModule, ApplicationStateModule appStateModule) Add the Cartesian velocity limiter to motion modules.
SPR	build() Creates an SPR for the SplineMotionModule.
static SplineMotionSPRBuilder	builder() Returns a builder instance.
SplineMotionSPRBuilder	withCommandParams(com.kuka.common.params.ParameterSet commandParams)
SplineMotionSPRBuilder	withEKO(boolean hasEKO)
SplineMotionSPRBuilder	withInfo(SunriseMappingToken info)
SplineMotionSPRBuilder	withMapper(CommandMapper mapper)
SplineMotionSPRBuilder	withMode(IMotionControlMode mode)
SplineMotionSPRBuilder	withMotion(IMotion motion)
SplineMotionSPRBuilder	withName(String name)
SplineMotionSPRBuilder	withRobot(Robot robot)

Methods inherited from class java.lang.Object

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

Constructor Detail

SplineMotionSPRBuilder

public SplineMotionSPRBuilder()

Method Detail

builder

public static SplineMotionSPRBuilder builder()

Returns a builder instance.

Returns:

the builder instance

build

public SPR build()

Creates an SPR for the SplineMotionModule.
1. Creates the new SPR for the Motion -> one Motion one SPR
2. Creates an instance of the SplineMotion module and adds module to the SPR
3. Creates various modules and links their IN- and OutPorts
4. Maps all stop conditions to the SPR, including the default stop condition (MotionFinished).
5. Creates the pause- and cancel-behavior and adds it to the SPR
6. Adds the SPR to the SunriseMappingToken as current SPR

Returns:

created SPR

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

withName

public SplineMotionSPRBuilder withName(String name)

Parameters:

name - the SPR name

Returns:

this

withRobot

public SplineMotionSPRBuilder withRobot(Robot robot)

Parameters:

robot - robot on which the spline motion is executed

Returns:

this

withInfo

public SplineMotionSPRBuilder withInfo(SunriseMappingToken info)

Parameters:

info - the mapping token

Returns:

this

withMapper

public SplineMotionSPRBuilder withMapper(CommandMapper mapper)

Parameters:

mapper - the spline mapper

Returns:

this

withCommandParams

public SplineMotionSPRBuilder withCommandParams(com.kuka.common.params.ParameterSet commandParams)

Parameters:

commandParams - spline command parameters

Returns:

this

withMode

public SplineMotionSPRBuilder withMode(IMotionControlMode mode)

Parameters:

mode - the control mode

Returns:

this

withMotion

public SplineMotionSPRBuilder withMotion(IMotion motion)

Parameters:

motion - the spline motion

Returns:

this

withEKO

public SplineMotionSPRBuilder withEKO(boolean hasEKO)

Parameters:

hasEKO - true, if the motion has elasticity compensation

Returns:

this