org.openpnp.spi

Interface MovableMountable

All Superinterfaces:

Locatable, Movable

All Known Subinterfaces:

Actuator, Camera, HeadMountable, Nozzle, ReferenceHeadMountable

All Known Implementing Classes:

AbstractActuator, AbstractBroadcastingCamera, AbstractCamera, AbstractHeadMountable, AbstractNozzle, AbstractSettlingCamera, BufferedImageCamera, ContactProbeNozzle, HttpActuator, ImageCamera, MjpgCaptureCamera, Neoden4Camera, NeoDen4FeederActuator, Neoden4SwitcherCamera, OnvifIPCamera, OpenCvCamera, OpenPnpCaptureCamera, ReferenceActuator, ReferenceCamera, ReferenceNozzle, ScriptActuator, SimulatedUpCamera, SwitcherCamera, ThermistorToLinearSensorActuator, Webcams

public interface MovableMountable
extends Movable

Anything that can be mounted to the machine and is Movable has its mapped Axes.

Nested Class Summary

Nested classes/interfaces inherited from interface org.openpnp.spi.Locatable

Locatable.LocationOption

Method Summary

Modifier and Type	Method and Description
Axis	getAxis(Axis.Type type)
Axis	getAxisRotation()
Axis	getAxisX()
Axis	getAxisY()
Axis	getAxisZ()
AxesLocation	getMappedAxes(Machine machine) Returns the set of motion-controller axes, mapped to the MovableMountable.
AxesLocation	toRaw(Location location, Locatable.LocationOption... options) Converts the specified transformed Head Location into a raw motion-controller AxesLocation.
Location	toTransformed(AxesLocation location, Locatable.LocationOption... options) Converts the specified raw motion-controller AxesLocation into a transformed Head Location.

Methods inherited from interface org.openpnp.spi.Movable

getEffectiveSafeZ, getSafeZ, getSafeZZone, home, isInSafeZZone, isReachable, moveTo, moveTo, moveToSafeZ, moveToSafeZ

Methods inherited from interface org.openpnp.spi.Locatable

getApproximativeLocation, getLocation

Method Detail

getAxisX

Axis getAxisX()

getAxisY

Axis getAxisY()

getAxisZ

Axis getAxisZ()

getAxisRotation

Axis getAxisRotation()

getAxis

Axis getAxis(Axis.Type type)

getMappedAxes

AxesLocation getMappedAxes(Machine machine)

Returns the set of motion-controller axes, mapped to the MovableMountable.

Parameters:

machine - The machine giving the axes order.

Returns:

toTransformed

Location toTransformed(AxesLocation location,
                       Locatable.LocationOption... options)

Converts the specified raw motion-controller AxesLocation into a transformed Head Location. Note, toTransformed() must not throw even if transformations are not well-defined. This would otherwise disrupt operation while setting the machine up. Only if toRaw() will throw, e.g. when you want to move the machine.

Parameters:

location -

options -

Returns:

toRaw

AxesLocation toRaw(Location location,
                   Locatable.LocationOption... options)
            throws java.lang.Exception

Converts the specified transformed Head Location into a raw motion-controller AxesLocation. Note, unlike toTransformed() toRaw() will throw if the reverse transformation is not well-defined. As this typically happens when trying to move the machine, it is an appropriately graded precaution.

Parameters:

location -

options -

Returns:

Throws:

java.lang.Exception