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

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.mapping.MappingToken<SunriseExecutionContainer>
      com.kuka.roboticsAPI.controllerModel.sunrise.mapping.SunriseMappingToken

All Implemented Interfaces:

com.kuka.common.ITaggable

public class SunriseMappingToken
extends MappingToken<SunriseExecutionContainer>

The mapping information is a supporting class for a mapping process of a robotics API command into a Sunrise-specific command.

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

SunriseMappingToken(SunriseExecutionContainer container, DeviceMappingSnapshot deviceMappingSnapshot)
Creates a new instance of the mapping information.

Method Summary

void	addFirstPrimitive(Primitive prim) Adds the given primitive as first element to the list of primitives.
void	addPrimitive(Primitive prim) Adds the given primitive to the list of primitives.
void	addSprAsFirstPrimitive(SPR spr, boolean setAsCurrentSPR) Convenience method (backwards compatibility): Adds the given SPR in the front of the list of primitives.
void	addSprAsPrimitive(SPR spr) Convenience method (backwards compatibility): Adds the given SPR to the list of primitives.
com.kuka.common.params.ParameterSet	getCombinedParameters(com.kuka.common.params.IParameterSet objectToMapParameter) Get parameter set combined from parameters of the object to map, default command parameters and default robot parameters.
Device	getCurrentDevice() Gets the current device for the current mapping process.
SPR	getCurrentSPR() Gets the current SPR for the current mapping process.
ObjectFrame	getDefaultMotionFrame() Gets the defaultMotionFrame data field.
DeviceMappingSnapshot	getDeviceMappingSnapshot()
Primitive	getLastPrimitive() Gets the last mapped primitive.
LoadData	getLoadData() Gets the load data for the current robot.
List<Primitive>	getPrimitives() Gets the primitives for the container.
int	getTriggerCounter()
RobotObserver	getUniqueRobotObserverInstance(Robot robot, SPR spr) Gets a unique robot observer instance for one complete mapping process.
void	setCurrentDevice(Device currentDevice) Sets the current device for the current mapping process and calculates the load data.
void	setCurrentSPR(SPR spr) Sets the current SPR for the current mapping process.
void	setDefaultMotionFrame(ObjectFrame defaultMotionFrame) Sets the defaultMotionFrame data field.
void	setTriggerCounter(int triggerCounter)

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

getContainer, getDefaultParams, getObjectToMap, getOriginalCommand, getTag, setObjectToMap, setTag

Methods inherited from class java.lang.Object

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

Constructor Detail

SunriseMappingToken

public SunriseMappingToken(SunriseExecutionContainer container,
                           DeviceMappingSnapshot deviceMappingSnapshot)

Creates a new instance of the mapping information.

Parameters:

container - The container which holds the command that should be mapped.

deviceMappingSnapshot - The mapping snapshot of the currently used device

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.

Method Detail

getPrimitives

public List<Primitive> getPrimitives()

Gets the primitives for the container.

Returns:

The unmodifiable list of primitives for the container.

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.

getLastPrimitive

public Primitive getLastPrimitive()

Gets the last mapped primitive.

Returns:

the last mapped primitive

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.

addSprAsPrimitive

public void addSprAsPrimitive(SPR spr)

Convenience method (backwards compatibility): Adds the given SPR to the list of primitives.

Parameters:

spr - The spr which should be added.

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.

addSprAsFirstPrimitive

public void addSprAsFirstPrimitive(SPR spr,
                                   boolean setAsCurrentSPR)

Convenience method (backwards compatibility): Adds the given SPR in the front of the list of primitives.

Parameters:

spr - The spr which should be added.

setAsCurrentSPR - set the SPR as current SPR?

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.

addPrimitive

public void addPrimitive(Primitive prim)

Adds the given primitive to the list of primitives.

Parameters:

prim - The primitive which should be added.

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.

addFirstPrimitive

public void addFirstPrimitive(Primitive prim)

Adds the given primitive as first element to the list of primitives.

Parameters:

prim - The primitive which should be added.

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.

getCurrentSPR

public SPR getCurrentSPR()

Gets the current SPR for the current mapping process. The SPR must be set by setCurrentSPR(SPR).

Returns:

The current SPR 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.

setCurrentSPR

public void setCurrentSPR(SPR spr)

Sets the current SPR for the current mapping process.

Parameters:

spr - The SPR 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.

getCurrentDevice

public Device getCurrentDevice()

Gets the current device for the current mapping process.

Returns:

The current device 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.

getCombinedParameters

public com.kuka.common.params.ParameterSet getCombinedParameters(com.kuka.common.params.IParameterSet objectToMapParameter)

Get parameter set combined from parameters of the object to map, default command parameters and default robot parameters. The batch parameters come with the default command parameters.

Parameters:

objectToMapParameter - parameter set of the object to map.

Returns:

combined parameter set.

setCurrentDevice

public void setCurrentDevice(Device currentDevice)

Sets the current device for the current mapping process and calculates the load data.

Parameters:

currentDevice - The current device 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.

setDefaultMotionFrame

public void setDefaultMotionFrame(ObjectFrame defaultMotionFrame)

Sets the defaultMotionFrame data field.

Parameters:

defaultMotionFrame - The defaultMotionFrame.

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.

getDefaultMotionFrame

public ObjectFrame getDefaultMotionFrame()

Gets the defaultMotionFrame data field.

Returns:

The defaultMotionFrame data field.

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.

getLoadData

public LoadData getLoadData()

Gets the load data for the current robot.

Returns:

the load data for the current robot.

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.

getUniqueRobotObserverInstance

public RobotObserver getUniqueRobotObserverInstance(Robot robot,
                                                    SPR spr)

Gets a unique robot observer instance for one complete mapping process.

Parameters:

robot - The robot which should be observed.

spr - The parent spr.

Returns:

An instance of a robot 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.

getDeviceMappingSnapshot

public DeviceMappingSnapshot getDeviceMappingSnapshot()

Returns:

the device mapping snapshot

getTriggerCounter

public int getTriggerCounter()

Returns:

the trigger counter

setTriggerCounter

public void setTriggerCounter(int triggerCounter)

Parameters:

triggerCounter - the trigger counter used for indexing the trigger DFEs within 1 motion