com.kuka.geometry.connections
Interface IQueryConnection<T extends IQueryConnection<T>>

Type Parameters:

T - the concrete type of the class that implements this IQueryConnection

All Superinterfaces:

IFrameConnection

public interface IQueryConnection<T extends IQueryConnection<T>>
extends IFrameConnection

A query connection is a connection between two frames whose transformation is delegated to an ITrafoQueryProcessor.

In most cases query connections represent some kind of sensor connection. For example, the frame that models the position of a robot flange is usually connected to the robot's base frame by a query connection. Thus the current position of the robot can be used in frame calculations by the geometry model.

An IQueryConnection delegates to an ITrafoQueryProcessor which implements the logic to calculate a spatial transformation of one or more connections.

Method Summary

ITrafoQueryProcessor<T>

getQueryProcessor()

Method Detail

getQueryProcessor

ITrafoQueryProcessor<T> getQueryProcessor()

Returns:

the ITrafoQueryProcessor that is associated with this sensor connection and that can calculate a transformation based on the sensor values.